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NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/UsdBridge.cpp | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridge.h"
#include "UsdBridgeUsdWriter.h"
#include "UsdBridgeCaches.h"
#include "UsdBridgeDiagnosticMgrDelegate.h"
#include <string>
#include <memory>
#define BRIDGE_CACHE Internals->Cache
#define BRIDGE_USDWRITER Internals->UsdWriter
namespace
{
// Parent paths for class definitions (Class path)
const char* const worldPathCp = "worlds";
const char* const instancePathCp = "instances";
const char* const groupPathCp = "groups";
const char* const surfacePathCp = "surfaces";
const char* const volumePathCp = "volumes";
const char* const geometryPathCp = "geometries";
const char* const fieldPathCp = "spatialfields";
const char* const materialPathCp = "materials";
const char* const samplerPathCp = "samplers";
const char* const cameraPathCp = "cameras";
// Parent path extensions for references in parent classes (Reference path)
const char* const instancePathRp = "instances";
const char* const surfacePathRp = "surfaces";
const char* const volumePathRp = "volumes";
const char* const geometryPathRp = "geometry"; // created in surface parent class
const char* const fieldPathRp = "spatialfield"; // created in volume parent class
const char* const materialPathRp = "material"; // created in surface parent class
const char* const samplerPathRp = "samplers"; // created in material parent class (separation from other UsdShader prims in material)
const char* const protoShapePathRp = "protoshapes"; // created in geometry parent class
const char* const protoGeometryPathRp = "protogeometries"; // created in geometry parent class
// Postfixes for prim stage names, also used for manifests
const char* const geomPrimStagePf = "_Geom";
const char* const fieldPrimStagePf = "_Field";
const char* const materialPrimStagePf = "_Material";
const char* const samplerPrimStagePf = "_Sampler";
const char* const cameraPrimStagePf = "_Camera";
// Postfixes for clip stage names
const char* const geomClipPf = "_Geom_";
bool PrimIsNew(const BoolEntryPair& createResult)
{
return !createResult.first.first && !createResult.first.second;
}
}
typedef UsdBridgePrimCacheManager::PrimCacheIterator PrimCacheIterator;
typedef UsdBridgePrimCacheManager::ConstPrimCacheIterator ConstPrimCacheIterator;
struct UsdBridgeInternals
{
UsdBridgeInternals(const UsdBridgeSettings& settings)
: UsdWriter(settings)
{
RefModCallbacks.AtNewRef = [this](UsdBridgePrimCache* parentCache, UsdBridgePrimCache* childCache){
// Increase the reference count for the child on creation of referencing prim
this->Cache.AddChild(parentCache, childCache);
};
RefModCallbacks.AtRemoveRef = [this](UsdBridgePrimCache* parentCache, UsdBridgePrimCache* childCache) {
this->Cache.RemoveChild(parentCache, childCache);
};
}
~UsdBridgeInternals()
{
if(DiagRemoveFunc)
DiagRemoveFunc(DiagnosticDelegate.get());
}
BoolEntryPair FindOrCreatePrim(const char* category, const char* name, ResourceCollectFunc collectFunc = nullptr);
void FindAndDeletePrim(const UsdBridgeHandle& handle);
template<class T>
const UsdBridgePrimCacheList& ExtractPrimCaches(const T* handles, uint64_t numHandles);
const UsdBridgePrimCacheList& ToCacheList(UsdBridgePrimCache* primCache);
UsdGeomPrimvarsAPI GetBoundGeomPrimvars(const UsdBridgeHandle& material) const;
// Cache
UsdBridgePrimCacheManager Cache;
// USDWriter
UsdBridgeUsdWriter UsdWriter;
// Material->geometry binding suggestion
std::map<UsdBridgePrimCache*, SdfPath> MaterialToGeometryBinding;
// Callbacks
UsdBridgeUsdWriter::RefModFuncs RefModCallbacks;
// Diagnostic Manager
std::unique_ptr<UsdBridgeDiagnosticMgrDelegate> DiagnosticDelegate;
std::function<void (UsdBridgeDiagnosticMgrDelegate*)> DiagRemoveFunc;
// Temp arrays
UsdBridgePrimCacheList TempPrimCaches;
SdfPrimPathList TempPrimPaths;
SdfPrimPathList ProtoPrimPaths;
};
BoolEntryPair UsdBridgeInternals::FindOrCreatePrim(const char* category, const char* name, ResourceCollectFunc collectFunc)
{
assert(TfIsValidIdentifier(name));
UsdBridgePrimCache* primCache = nullptr;
// Find existing entry
ConstPrimCacheIterator it = Cache.FindPrimCache(name);
bool cacheExists = Cache.ValidIterator(it);
bool stageExists = true;
if (cacheExists)
{
// Get the existing entry
primCache = it->second.get();
}
else
{
primCache = Cache.CreatePrimCache(name, UsdWriter.CreatePrimName(name, category), collectFunc)->second.get();
stageExists = !UsdWriter.CreatePrim(primCache->PrimPath);
}
return BoolEntryPair(std::pair<bool,bool>(stageExists, cacheExists), primCache);
}
void UsdBridgeInternals::FindAndDeletePrim(const UsdBridgeHandle& handle)
{
ConstPrimCacheIterator it = Cache.FindPrimCache(handle);
assert(Cache.ValidIterator(it));
UsdBridgePrimCache* cacheEntry = (*it).second.get();
UsdWriter.DeletePrim(cacheEntry);
Cache.RemovePrimCache(it, UsdWriter.LogObject);
}
template<class T>
const UsdBridgePrimCacheList& UsdBridgeInternals::ExtractPrimCaches(const T* handles, uint64_t numHandles)
{
TempPrimCaches.resize(numHandles);
for (uint64_t i = 0; i < numHandles; ++i)
{
TempPrimCaches[i] = this->Cache.ConvertToPrimCache(handles[i]);
}
return TempPrimCaches;
}
const UsdBridgePrimCacheList& UsdBridgeInternals::ToCacheList(UsdBridgePrimCache* primCache)
{
TempPrimCaches.resize(1);
TempPrimCaches[0] = primCache;
return TempPrimCaches;
}
UsdGeomPrimvarsAPI UsdBridgeInternals::GetBoundGeomPrimvars(const UsdBridgeHandle& material) const
{
auto it = MaterialToGeometryBinding.find(material.value);
if(it != MaterialToGeometryBinding.end())
{
const SdfPath& boundGeomPrimPath = it->second;
UsdPrim boundGeomPrim = UsdWriter.GetSceneStage()->GetPrimAtPath(boundGeomPrimPath);
return UsdGeomPrimvarsAPI(boundGeomPrim);
}
return UsdGeomPrimvarsAPI();
}
template<typename HandleType>
bool HasNullHandles(const HandleType* handles, uint64_t numHandles)
{
for(uint64_t i = 0; i < numHandles; ++i)
if(handles[i].value == nullptr)
return true;
return false;
}
UsdBridge::UsdBridge(const UsdBridgeSettings& settings)
: Internals(new UsdBridgeInternals(settings))
, SessionValid(false)
{
SetEnableSaving(true);
}
void UsdBridge::SetExternalSceneStage(SceneStagePtr sceneStage)
{
BRIDGE_USDWRITER.SetExternalSceneStage(UsdStageRefPtr((UsdStage*)sceneStage));
}
void UsdBridge::SetEnableSaving(bool enableSaving)
{
this->EnableSaving = enableSaving;
BRIDGE_USDWRITER.SetEnableSaving(enableSaving);
}
bool UsdBridge::OpenSession(UsdBridgeLogCallback logCallback, void* logUserData)
{
BRIDGE_USDWRITER.LogObject = {logUserData, logCallback};
Internals->DiagnosticDelegate = std::make_unique<UsdBridgeDiagnosticMgrDelegate>(logUserData, logCallback);
Internals->DiagRemoveFunc = [](UsdBridgeDiagnosticMgrDelegate* delegate)
{ TfDiagnosticMgr::GetInstance().RemoveDelegate(delegate); };
TfDiagnosticMgr::GetInstance().AddDelegate(Internals->DiagnosticDelegate.get());
SessionValid = BRIDGE_USDWRITER.InitializeSession();
SessionValid = SessionValid && BRIDGE_USDWRITER.OpenSceneStage();
return SessionValid;
}
void UsdBridge::CloseSession()
{
BRIDGE_USDWRITER.ResetSession();
}
UsdBridge::~UsdBridge()
{
delete Internals;
}
bool UsdBridge::CreateWorld(const char* name, UsdWorldHandle& handle)
{
if (!SessionValid) return false;
// Find or create a cache entry belonging to a prim located under worldPathCp in the usd.
BoolEntryPair createResult = Internals->FindOrCreatePrim(worldPathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
this->CreateRootPrimAndAttach(cacheEntry, worldPathCp);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateInstance(const char* name, UsdInstanceHandle& handle)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(instancePathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
BRIDGE_USDWRITER.InitializeUsdTransform(cacheEntry);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateGroup(const char* name, UsdGroupHandle& handle)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(groupPathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
BRIDGE_USDWRITER.InitializeUsdTransform(cacheEntry);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateSurface(const char* name, UsdSurfaceHandle& handle)
{
if (!SessionValid) return false;
// Although surface doesn't support transform operations, a transform prim supports timevarying visibility.
BoolEntryPair createResult = Internals->FindOrCreatePrim(surfacePathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
BRIDGE_USDWRITER.InitializeUsdTransform(cacheEntry);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateVolume(const char * name, UsdVolumeHandle& handle)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(volumePathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
BRIDGE_USDWRITER.InitializeUsdTransform(cacheEntry);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
template<typename GeomDataType>
bool UsdBridge::CreateGeometryTemplate(const char* name, UsdGeometryHandle& handle, const GeomDataType& geomData)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(geometryPathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
#ifdef VALUE_CLIP_RETIMING
BRIDGE_USDWRITER.CreateManifestStage(name, geomPrimStagePf, cacheEntry);
#ifndef TIME_CLIP_STAGES
// Default primstage created for clip assetpaths of parents. If this path is not active, individual clip stages are created lazily during data update.
UsdStageRefPtr geomPrimStage = BRIDGE_USDWRITER.FindOrCreatePrimStage(cacheEntry, geomPrimStagePf).second;
BRIDGE_USDWRITER.InitializeUsdGeometry(geomPrimStage, cacheEntry->PrimPath, geomData, false);
#endif
#endif
UsdPrim geomPrim = BRIDGE_USDWRITER.InitializeUsdGeometry(BRIDGE_USDWRITER.GetSceneStage(), cacheEntry->PrimPath, geomData, true);
geomPrim.ApplyAPI<UsdShadeMaterialBindingAPI>();
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateGeometry(const char* name, UsdGeometryHandle& handle, const UsdBridgeMeshData& meshData)
{
return CreateGeometryTemplate<UsdBridgeMeshData>(name, handle, meshData);
}
bool UsdBridge::CreateGeometry(const char* name, UsdGeometryHandle& handle, const UsdBridgeInstancerData& instancerData)
{
return CreateGeometryTemplate<UsdBridgeInstancerData>(name, handle, instancerData);
}
bool UsdBridge::CreateGeometry(const char* name, UsdGeometryHandle& handle, const UsdBridgeCurveData& curveData)
{
return CreateGeometryTemplate<UsdBridgeCurveData>(name, handle, curveData);
}
bool UsdBridge::CreateSpatialField(const char * name, UsdSpatialFieldHandle& handle)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(fieldPathCp, name, &ResourceCollectVolume);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
#ifdef VALUE_CLIP_RETIMING
// Create manifest and primstage
BRIDGE_USDWRITER.CreateManifestStage(name, fieldPrimStagePf, cacheEntry);
UsdStageRefPtr volPrimStage = BRIDGE_USDWRITER.FindOrCreatePrimStage(cacheEntry, fieldPrimStagePf).second;
BRIDGE_USDWRITER.InitializeUsdVolume(volPrimStage, cacheEntry->PrimPath, false);
#endif
UsdPrim volumePrim = BRIDGE_USDWRITER.InitializeUsdVolume(BRIDGE_USDWRITER.GetSceneStage(), cacheEntry->PrimPath, true);
volumePrim.ApplyAPI<UsdShadeMaterialBindingAPI>();
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateMaterial(const char* name, UsdMaterialHandle& handle)
{
if (!SessionValid) return false;
// Create the material
BoolEntryPair createResult = Internals->FindOrCreatePrim(materialPathCp, name);
UsdBridgePrimCache* matCacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
UsdMaterialHandle matHandle; matHandle.value = matCacheEntry;
if (!cacheExists)
{
#ifdef VALUE_CLIP_RETIMING
// Create manifest and primstage
BRIDGE_USDWRITER.CreateManifestStage(name, materialPrimStagePf, matCacheEntry);
UsdStageRefPtr matPrimStage = BRIDGE_USDWRITER.FindOrCreatePrimStage(matCacheEntry, materialPrimStagePf).second;
BRIDGE_USDWRITER.InitializeUsdMaterial(matPrimStage, matCacheEntry->PrimPath, false);
#endif
UsdShadeMaterial matPrim = BRIDGE_USDWRITER.InitializeUsdMaterial(BRIDGE_USDWRITER.GetSceneStage(), matCacheEntry->PrimPath, true);
}
handle = matHandle;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateSampler(const char* name, UsdSamplerHandle& handle, UsdBridgeSamplerData::SamplerType type)
{
if (!SessionValid) return false;
BoolEntryPair createResult = Internals->FindOrCreatePrim(samplerPathCp, name, &ResourceCollectSampler);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
if (!cacheExists)
{
#ifdef VALUE_CLIP_RETIMING
// Create manifest and primstage
BRIDGE_USDWRITER.CreateManifestStage(name, samplerPrimStagePf, cacheEntry);
UsdStageRefPtr samplerPrimStage = BRIDGE_USDWRITER.FindOrCreatePrimStage(cacheEntry, samplerPrimStagePf).second;
BRIDGE_USDWRITER.InitializeUsdSampler(samplerPrimStage, cacheEntry->PrimPath, type, false);
#endif
BRIDGE_USDWRITER.InitializeUsdSampler(BRIDGE_USDWRITER.GetSceneStage(), cacheEntry->PrimPath, type, true);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
bool UsdBridge::CreateCamera(const char* name, UsdCameraHandle& handle)
{
if (!SessionValid) return false;
// Find or create a cache entry belonging to a prim located under worldPathCp in the usd.
BoolEntryPair createResult = Internals->FindOrCreatePrim(cameraPathCp, name);
UsdBridgePrimCache* cacheEntry = createResult.second;
bool cacheExists = createResult.first.second;
// The camera has no manifest, instead the primstage+path is directly referenced by the root camera
// instance prim.
if (!cacheExists)
{
const char* layerId = nullptr;
#ifdef VALUE_CLIP_RETIMING
const UsdStagePair& stagePair = BRIDGE_USDWRITER.FindOrCreatePrimStage(cacheEntry, cameraPrimStagePf);
layerId = stagePair.first.c_str();
UsdStageRefPtr camStage = stagePair.second;
#else
UsdStageRefPtr camStage = BRIDGE_USDWRITER.GetSceneStage();
#endif
BRIDGE_USDWRITER.InitializeUsdCamera(camStage, cacheEntry->PrimPath);
this->CreateRootPrimAndAttach(cacheEntry, cameraPathCp, layerId);
}
handle.value = cacheEntry;
return PrimIsNew(createResult);
}
void UsdBridge::DeleteWorld(UsdWorldHandle handle)
{
if (handle.value == nullptr) return;
UsdBridgePrimCache* worldCache = BRIDGE_CACHE.ConvertToPrimCache(handle);
this->RemoveRootPrimAndDetach(worldCache, worldPathCp);
// Remove the abstract class
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteInstance(UsdInstanceHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteGroup(UsdGroupHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteSurface(UsdSurfaceHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteVolume(UsdVolumeHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteGeometry(UsdGeometryHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteSpatialField(UsdSpatialFieldHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteMaterial(UsdMaterialHandle handle)
{
if (handle.value == nullptr) return;
Internals->MaterialToGeometryBinding.erase(handle.value);
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteSampler(UsdSamplerHandle handle)
{
if (handle.value == nullptr) return;
Internals->FindAndDeletePrim(handle);
}
void UsdBridge::DeleteCamera(UsdCameraHandle handle)
{
if (handle.value == nullptr) return;
UsdBridgePrimCache* cameraCache = BRIDGE_CACHE.ConvertToPrimCache(handle);
this->RemoveRootPrimAndDetach(cameraCache, cameraPathCp);
// Remove the abstract class
Internals->FindAndDeletePrim(handle);
}
template<typename ParentHandleType, typename ChildHandleType>
void UsdBridge::SetNoClipRefs(ParentHandleType parentHandle, const ChildHandleType* childHandles, uint64_t numChildren,
const char* refPathExt, bool timeVarying, double timeStep, bool instanceable)
{
if (parentHandle.value == nullptr) return;
if(HasNullHandles(childHandles, numChildren)) return;
UsdBridgePrimCache* parentCache = BRIDGE_CACHE.ConvertToPrimCache(parentHandle);
const UsdBridgePrimCacheList& childCaches = Internals->ExtractPrimCaches<ChildHandleType>(childHandles, numChildren);
BRIDGE_USDWRITER.ManageUnusedRefs(parentCache, childCaches, refPathExt, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
for (uint64_t i = 0; i < numChildren; ++i)
{
BRIDGE_USDWRITER.AddRef_NoClip(parentCache, childCaches[i], refPathExt, timeVarying, timeStep, instanceable, Internals->RefModCallbacks);
}
}
void UsdBridge::SetInstanceRefs(UsdWorldHandle world, const UsdInstanceHandle* instances, uint64_t numInstances, bool timeVarying, double timeStep)
{
SetNoClipRefs(world, instances, numInstances, instancePathRp, timeVarying, timeStep);
}
void UsdBridge::SetGroupRef(UsdInstanceHandle instance, UsdGroupHandle group, bool timeVarying, double timeStep)
{
if (instance.value == nullptr) return;
if (group.value == nullptr) return;
UsdBridgePrimCache* instanceCache = BRIDGE_CACHE.ConvertToPrimCache(instance);
UsdBridgePrimCache* groupCache = BRIDGE_CACHE.ConvertToPrimCache(group);
constexpr bool instanceable = false;
BRIDGE_USDWRITER.ManageUnusedRefs(instanceCache, Internals->ToCacheList(groupCache), nullptr, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
BRIDGE_USDWRITER.AddRef_NoClip(instanceCache, groupCache, nullptr, timeVarying, timeStep, instanceable, Internals->RefModCallbacks);
}
void UsdBridge::SetSurfaceRefs(UsdWorldHandle world, const UsdSurfaceHandle* surfaces, uint64_t numSurfaces, bool timeVarying, double timeStep)
{
constexpr bool instanceable = true;
SetNoClipRefs(world, surfaces, numSurfaces, surfacePathRp, timeVarying, timeStep, instanceable);
}
void UsdBridge::SetSurfaceRefs(UsdGroupHandle group, const UsdSurfaceHandle* surfaces, uint64_t numSurfaces, bool timeVarying, double timeStep)
{
constexpr bool instanceable = true;
SetNoClipRefs(group, surfaces, numSurfaces, surfacePathRp, timeVarying, timeStep, instanceable);
}
void UsdBridge::SetVolumeRefs(UsdWorldHandle world, const UsdVolumeHandle* volumes, uint64_t numVolumes, bool timeVarying, double timeStep)
{
SetNoClipRefs(world, volumes, numVolumes, volumePathRp, timeVarying, timeStep);
}
void UsdBridge::SetVolumeRefs(UsdGroupHandle group, const UsdVolumeHandle* volumes, uint64_t numVolumes, bool timeVarying, double timeStep)
{
SetNoClipRefs(group, volumes, numVolumes, volumePathRp, timeVarying, timeStep);
}
void UsdBridge::SetGeometryRef(UsdSurfaceHandle surface, UsdGeometryHandle geometry, double timeStep, double geomTimeStep)
{
if (surface.value == nullptr) return;
if (geometry.value == nullptr) return;
UsdBridgePrimCache* surfaceCache = BRIDGE_CACHE.ConvertToPrimCache(surface);
UsdBridgePrimCache* geometryCache = BRIDGE_CACHE.ConvertToPrimCache(geometry);
constexpr bool timeVarying = false; // On a surface, the path to the geometry cannot change over time (ie. is uniformly set), since material is not timevarying either (due to the material binding path rel from the geometry) and the geometry contents itself are already timevarying.
constexpr bool valueClip = true;
constexpr bool clipStages = true;
constexpr bool instanceable = false; // Can only make Xform prims instanceable
BRIDGE_USDWRITER.ManageUnusedRefs(surfaceCache, Internals->ToCacheList(geometryCache), geometryPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
BRIDGE_USDWRITER.ManageUnusedRefs(surfaceCache, UsdBridgePrimCacheList(), materialPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
SdfPath refGeomPath = BRIDGE_USDWRITER.AddRef(surfaceCache, geometryCache, geometryPathRp, timeVarying, valueClip, clipStages, geomClipPf, timeStep, geomTimeStep, instanceable, Internals->RefModCallbacks);
BRIDGE_USDWRITER.UnbindMaterialFromGeom(refGeomPath);
}
void UsdBridge::SetGeometryMaterialRef(UsdSurfaceHandle surface, UsdGeometryHandle geometry, UsdMaterialHandle material, double timeStep, double geomTimeStep, double matTimeStep)
{
if (surface.value == nullptr) return;
if (geometry.value == nullptr || material.value == nullptr) return;
UsdBridgePrimCache* surfaceCache = BRIDGE_CACHE.ConvertToPrimCache(surface);
UsdBridgePrimCache* geometryCache = BRIDGE_CACHE.ConvertToPrimCache(geometry);
UsdBridgePrimCache* materialCache = BRIDGE_CACHE.ConvertToPrimCache(material);
constexpr bool timeVarying = false;
constexpr bool valueClip = true;
constexpr bool instanceable = false; // Can only make Xform prims instanceable
// Remove any dangling references
BRIDGE_USDWRITER.ManageUnusedRefs(surfaceCache, Internals->ToCacheList(geometryCache), geometryPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
BRIDGE_USDWRITER.ManageUnusedRefs(surfaceCache, Internals->ToCacheList(materialCache), materialPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
// Update the references
SdfPath refGeomPath = BRIDGE_USDWRITER.AddRef(surfaceCache, geometryCache, geometryPathRp, timeVarying, valueClip, true, geomClipPf, timeStep, geomTimeStep, instanceable, Internals->RefModCallbacks); // Can technically be timeVarying, but would be a bit confusing. Instead, timevary the surface.
SdfPath refMatPath = BRIDGE_USDWRITER.AddRef(surfaceCache, materialCache, materialPathRp, timeVarying, valueClip, false, nullptr, timeStep, matTimeStep, instanceable, Internals->RefModCallbacks);
// For updating material attribute reader output types, update the suggested material->geompath mapping.
// Since multiple geometries can be bound to a material, only one is taken, so it is up to the user to ensure correct attribute connection types.
SdfPath& geomPrimPath = geometryCache->PrimPath;
Internals->MaterialToGeometryBinding[material.value] = geomPrimPath;
// Bind the referencing material to the referencing geom prim (as they are within same scope in this usd prim)
BRIDGE_USDWRITER.BindMaterialToGeom(refGeomPath, refMatPath);
}
void UsdBridge::SetSpatialFieldRef(UsdVolumeHandle volume, UsdSpatialFieldHandle field, double timeStep, double fieldTimeStep)
{
if (volume.value == nullptr) return;
if (field.value == nullptr) return;
UsdBridgePrimCache* volumeCache = BRIDGE_CACHE.ConvertToPrimCache(volume);
UsdBridgePrimCache* fieldCache = BRIDGE_CACHE.ConvertToPrimCache(field);
constexpr bool timeVarying = false;
constexpr bool valueClip = true;
constexpr bool clipStages = false;
constexpr bool instanceable = false;
BRIDGE_USDWRITER.ManageUnusedRefs(volumeCache, Internals->ToCacheList(fieldCache), fieldPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
SdfPath refVolPath = BRIDGE_USDWRITER.AddRef(volumeCache, fieldCache, fieldPathRp, timeVarying, valueClip, clipStages, nullptr, timeStep, fieldTimeStep, instanceable, Internals->RefModCallbacks); // Can technically be timeVarying, but would be a bit confusing. Instead, timevary the volume.
}
void UsdBridge::SetSamplerRefs(UsdMaterialHandle material, const UsdSamplerHandle* samplers, size_t numSamplers, double timeStep, const UsdSamplerRefData* samplerRefData)
{
if (material.value == nullptr) return;
if(HasNullHandles(samplers, numSamplers)) return;
UsdBridgePrimCache* matCache = BRIDGE_CACHE.ConvertToPrimCache(material);
const UsdBridgePrimCacheList& samplerCaches = Internals->ExtractPrimCaches<UsdSamplerHandle>(samplers, numSamplers);
// Sampler references cannot be time-varying (ie. path to sampler cannot change over time - connectToSource doesn't allow for that), and are set on the scenestage prim (so they inherit the type of the sampler prim)
// However, they do allow value clip retiming.
constexpr bool timeVarying = false;
constexpr bool valueClip = true;
constexpr bool clipStages = false;
constexpr bool instanceable = false;
BRIDGE_USDWRITER.ManageUnusedRefs(matCache, samplerCaches, samplerPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
// Bind sampler and material
SdfPath& matPrimPath = matCache->PrimPath;// .AppendPath(SdfPath(materialAttribPf));
UsdStageRefPtr materialStage = BRIDGE_USDWRITER.GetTimeVarStage(matCache);
Internals->TempPrimPaths.resize(numSamplers);
for (uint64_t i = 0; i < numSamplers; ++i)
{
Internals->TempPrimPaths[i] = BRIDGE_USDWRITER.AddRef(matCache, samplerCaches[i], samplerPathRp, timeVarying, valueClip, clipStages, nullptr, timeStep, samplerRefData[i].TimeStep, instanceable, Internals->RefModCallbacks);
}
BRIDGE_USDWRITER.ConnectSamplersToMaterial(materialStage, matPrimPath, Internals->TempPrimPaths, samplerCaches, samplerRefData, numSamplers, timeStep); // requires world timestep, see implementation
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
materialStage->Save();
#endif
}
void UsdBridge::SetPrototypeRefs(UsdGeometryHandle geometry, const UsdGeometryHandle* protoGeometries, size_t numProtoGeometries, double timeStep, double* protoTimeSteps)
{
if (geometry.value == nullptr) return;
if(HasNullHandles(protoGeometries, numProtoGeometries)) return;
UsdBridgePrimCache* geometryCache = BRIDGE_CACHE.ConvertToPrimCache(geometry);
const UsdBridgePrimCacheList& protoGeomCaches = Internals->ExtractPrimCaches<UsdGeometryHandle>(protoGeometries, numProtoGeometries);
// Due to prototype rel paths, the path to the prototype itself cannot change. Also, the contents of the prototype itself can already timevary.
constexpr bool timeVarying = false;
constexpr bool valueClip = true;
constexpr bool clipStages = true;
constexpr bool instanceable = false;
BRIDGE_USDWRITER.ManageUnusedRefs(geometryCache, protoGeomCaches, protoGeometryPathRp, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
Internals->ProtoPrimPaths.resize(numProtoGeometries);
for(uint64_t i = 0; i < numProtoGeometries; ++i)
{
Internals->ProtoPrimPaths[i] = BRIDGE_USDWRITER.AddRef(geometryCache, protoGeomCaches[i], protoGeometryPathRp, timeVarying, valueClip, clipStages, geomClipPf, timeStep, protoTimeSteps[i], instanceable, Internals->RefModCallbacks);
}
}
template<typename ParentHandleType>
void UsdBridge::DeleteAllRefs(ParentHandleType parentHandle, const char* refPathExt, bool timeVarying, double timeStep)
{
if (parentHandle.value == nullptr) return;
UsdBridgePrimCache* parentCache = BRIDGE_CACHE.ConvertToPrimCache(parentHandle);
BRIDGE_USDWRITER.RemoveAllRefs(parentCache, refPathExt, timeVarying, timeStep, Internals->RefModCallbacks.AtRemoveRef);
}
void UsdBridge::DeleteInstanceRefs(UsdWorldHandle world, bool timeVarying, double timeStep)
{
DeleteAllRefs(world, instancePathRp, timeVarying, timeStep);
}
void UsdBridge::DeleteGroupRef(UsdInstanceHandle instance, bool timeVarying, double timeStep)
{
DeleteAllRefs(instance, nullptr, timeVarying, timeStep);
}
void UsdBridge::DeleteSurfaceRefs(UsdWorldHandle world, bool timeVarying, double timeStep)
{
DeleteAllRefs(world, surfacePathRp, timeVarying, timeStep);
}
void UsdBridge::DeleteSurfaceRefs(UsdGroupHandle group, bool timeVarying, double timeStep)
{
DeleteAllRefs(group, surfacePathRp, timeVarying, timeStep);
}
void UsdBridge::DeleteVolumeRefs(UsdWorldHandle world, bool timeVarying, double timeStep)
{
DeleteAllRefs(world, volumePathRp, timeVarying, timeStep);
}
void UsdBridge::DeleteVolumeRefs(UsdGroupHandle group, bool timeVarying, double timeStep)
{
DeleteAllRefs(group, volumePathRp, timeVarying, timeStep);
}
void UsdBridge::DeleteGeometryRef(UsdSurfaceHandle surface, double timeStep)
{
DeleteAllRefs(surface, geometryPathRp, false, timeStep);
}
void UsdBridge::DeleteSpatialFieldRef(UsdVolumeHandle volume, double timeStep)
{
DeleteAllRefs(volume, fieldPathRp, false, timeStep);
}
void UsdBridge::DeleteMaterialRef(UsdSurfaceHandle surface, double timeStep)
{
DeleteAllRefs(surface, materialPathRp, false, timeStep);
}
void UsdBridge::DeleteSamplerRefs(UsdMaterialHandle material, double timeStep)
{
DeleteAllRefs(material, samplerPathRp, false, timeStep);
}
void UsdBridge::DeletePrototypeRefs(UsdGeometryHandle geometry, double timeStep)
{
Internals->ProtoPrimPaths.resize(0);
DeleteAllRefs(geometry, protoGeometryPathRp, false, timeStep);
}
void UsdBridge::UpdateBeginEndTime(double timeStep)
{
if (!SessionValid) return;
BRIDGE_USDWRITER.UpdateBeginEndTime(timeStep);
}
void UsdBridge::SetInstanceTransform(UsdInstanceHandle instance, const float* transform, bool timeVarying, double timeStep)
{
if (instance.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(instance);
SdfPath transformPath = cache->PrimPath;// .AppendPath(SdfPath(transformAttribPf));
BRIDGE_USDWRITER.UpdateUsdTransform(transformPath, transform, timeVarying, timeStep);
}
template<typename GeomDataType>
void UsdBridge::SetGeometryDataTemplate(UsdGeometryHandle geometry, const GeomDataType& geomData, double timeStep)
{
if (geometry.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(geometry);
SdfPath& geomPath = cache->PrimPath;
#ifdef VALUE_CLIP_RETIMING
if(cache->TimeVarBitsUpdate(geomData.TimeVarying))
BRIDGE_USDWRITER.UpdateUsdGeometryManifest(cache, geomData);
#endif
UsdStageRefPtr geomStage = BRIDGE_USDWRITER.GetTimeVarStage(cache
#ifdef TIME_CLIP_STAGES
, true, geomClipPf, timeStep
, [usdWriter=&BRIDGE_USDWRITER, &geomPath, &geomData] (UsdStageRefPtr geomStage)
{ usdWriter->InitializeUsdGeometry(geomStage, geomPath, geomData, false); }
#endif
);
BRIDGE_USDWRITER.UpdateUsdGeometry(geomStage, geomPath, geomData, timeStep);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
geomStage->Save();
#endif
}
void UsdBridge::SetGeometryData(UsdGeometryHandle geometry, const UsdBridgeMeshData& meshData, double timeStep)
{
SetGeometryDataTemplate<UsdBridgeMeshData>(geometry, meshData, timeStep);
}
void UsdBridge::SetGeometryData(UsdGeometryHandle geometry, const UsdBridgeInstancerData& instancerData, double timeStep)
{
SetGeometryDataTemplate<UsdBridgeInstancerData>(geometry, instancerData, timeStep);
}
void UsdBridge::SetGeometryData(UsdGeometryHandle geometry, const UsdBridgeCurveData& curveData, double timeStep)
{
SetGeometryDataTemplate<UsdBridgeCurveData>(geometry, curveData, timeStep);
}
void UsdBridge::SetSpatialFieldData(UsdSpatialFieldHandle field, const UsdBridgeVolumeData& volumeData, double timeStep)
{
if (field.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(field);
#ifdef VALUE_CLIP_RETIMING
if(cache->TimeVarBitsUpdate(volumeData.TimeVarying))
BRIDGE_USDWRITER.UpdateUsdVolumeManifest(cache, volumeData);
#endif
UsdStageRefPtr volumeStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
// To avoid data duplication when using of clip stages, we need to potentially use the scenestage prim for time-uniform data.
BRIDGE_USDWRITER.UpdateUsdVolume(volumeStage, cache, volumeData, timeStep);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
volumeStage->Save();
#endif
}
void UsdBridge::SetMaterialData(UsdMaterialHandle material, const UsdBridgeMaterialData& matData, double timeStep)
{
if (material.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(material);
SdfPath& matPrimPath = cache->PrimPath;
#ifdef VALUE_CLIP_RETIMING
if(cache->TimeVarBitsUpdate(matData.TimeVarying))
BRIDGE_USDWRITER.UpdateUsdMaterialManifest(cache, matData);
#endif
UsdStageRefPtr materialStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
UsdGeomPrimvarsAPI boundGeomPrimvars = Internals->GetBoundGeomPrimvars(material);
BRIDGE_USDWRITER.UpdateUsdMaterial(materialStage, matPrimPath, matData, boundGeomPrimvars, timeStep);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
materialStage->Save();
#endif
}
void UsdBridge::SetSamplerData(UsdSamplerHandle sampler, const UsdBridgeSamplerData& samplerData, double timeStep)
{
if (sampler.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(sampler);
#ifdef VALUE_CLIP_RETIMING
if(cache->TimeVarBitsUpdate(samplerData.TimeVarying))
BRIDGE_USDWRITER.UpdateUsdSamplerManifest(cache, samplerData);
#endif
UsdStageRefPtr samplerStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
BRIDGE_USDWRITER.UpdateUsdSampler(samplerStage, cache, samplerData, timeStep);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
samplerStage->Save();
#endif
}
void UsdBridge::SetCameraData(UsdCameraHandle camera, const UsdBridgeCameraData& cameraData, double timeStep)
{
if (camera.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(camera);
SdfPath& cameraPath = cache->PrimPath;
bool timeVarHasChanged =
#ifdef VALUE_CLIP_RETIMING
cache->TimeVarBitsUpdate(cameraData.TimeVarying);
#else
false;
#endif
UsdStageRefPtr cameraStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
BRIDGE_USDWRITER.UpdateUsdCamera(cameraStage, cameraPath, cameraData, timeStep, timeVarHasChanged);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
cameraStage->Save();
#endif
}
void UsdBridge::SetPrototypeData(UsdGeometryHandle geometry, const UsdBridgeInstancerRefData& instancerRefData)
{
if (geometry.value == nullptr) return;
UsdBridgePrimCache* geomCache = BRIDGE_CACHE.ConvertToPrimCache(geometry);
SdfPath& geomPath = geomCache->PrimPath;
BRIDGE_USDWRITER.UpdateUsdInstancerPrototypes(geomPath, instancerRefData, Internals->ProtoPrimPaths, protoShapePathRp); // The geometry reference path is already merged into ProtoPrimPaths
}
void UsdBridge::ChangeMaterialInputAttributes(UsdMaterialHandle material, const MaterialInputAttribName* inputAttribs, size_t numInputAttribs, double timeStep, MaterialDMI timeVarying)
{
if (material.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(material);
SdfPath& matPrimPath = cache->PrimPath;// .AppendPath(SdfPath(samplerAttribPf));
UsdStageRefPtr materialStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
UsdGeomPrimvarsAPI boundGeomPrimvars = Internals->GetBoundGeomPrimvars(material);
for(int i = 0; i < numInputAttribs; ++i)
BRIDGE_USDWRITER.UpdateAttributeReader(materialStage, matPrimPath, inputAttribs[i].first, inputAttribs[i].second, boundGeomPrimvars, timeStep, timeVarying);
#ifdef VALUE_CLIP_RETIMING
//if(this->EnableSaving)
// materialStage->Save(); // Attrib readers do not have timevarying info at the moment
#endif
}
void UsdBridge::ChangeInAttribute(UsdSamplerHandle sampler, const char* newName, double timeStep, SamplerDMI timeVarying)
{
if (sampler.value == nullptr) return;
UsdBridgePrimCache* cache = BRIDGE_CACHE.ConvertToPrimCache(sampler);
SdfPath& samplerPrimPath = cache->PrimPath;// .AppendPath(SdfPath(samplerAttribPf));
UsdStageRefPtr samplerStage = BRIDGE_USDWRITER.GetTimeVarStage(cache);
BRIDGE_USDWRITER.UpdateInAttribute(samplerStage, samplerPrimPath, newName, timeStep, timeVarying);
#ifdef VALUE_CLIP_RETIMING
if(this->EnableSaving)
samplerStage->Save();
#endif
}
void UsdBridge::SaveScene()
{
if (!SessionValid) return;
if(this->EnableSaving)
BRIDGE_USDWRITER.GetSceneStage()->Save();
}
void UsdBridge::ResetResourceUpdateState()
{
if (!SessionValid) return;
BRIDGE_USDWRITER.ResetSharedResourceModified();
}
void UsdBridge::GarbageCollect()
{
BRIDGE_CACHE.RemoveUnreferencedPrimCaches(
[this](UsdBridgePrimCache* cacheEntry)
{
if(cacheEntry->ResourceCollect)
cacheEntry->ResourceCollect(cacheEntry, BRIDGE_USDWRITER);
BRIDGE_USDWRITER.DeletePrim(cacheEntry);
}
);
if(this->EnableSaving)
BRIDGE_USDWRITER.GetSceneStage()->Save();
}
const char* UsdBridge::GetPrimPath(UsdBridgeHandle* handle)
{
if(handle && handle->value)
{
return handle->value->PrimPath.GetString().c_str();
}
else
return nullptr;
}
void UsdBridge::CreateRootPrimAndAttach(UsdBridgePrimCache* cacheEntry, const char* primPathCp, const char* layerId)
{
BRIDGE_USDWRITER.AddRootPrim(cacheEntry, primPathCp, layerId);
BRIDGE_CACHE.AttachTopLevelPrim(cacheEntry);
}
void UsdBridge::RemoveRootPrimAndDetach(UsdBridgePrimCache* cacheEntry, const char* primPathCp)
{
BRIDGE_CACHE.DetachTopLevelPrim(cacheEntry);
BRIDGE_USDWRITER.RemoveRootPrim(cacheEntry, primPathCp);
}
void UsdBridge::SetConnectionLogVerbosity(int logVerbosity)
{
int logLevel = UsdBridgeRemoteConnection::GetConnectionLogLevelMax() - logVerbosity; // Just invert verbosity to get the level
UsdBridgeRemoteConnection::SetConnectionLogLevel(logLevel);
}
| 38,415 | C++ | 35.071361 | 297 | 0.786958 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/UsdBridgeUsdWriter_Common.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeUsdWriterConvenience_h
#define UsdBridgeUsdWriterConvenience_h
#include "UsdBridgeData.h"
#include "UsdBridgeUtils.h"
#include <string>
#include <sstream>
template<typename T>
using TimeEvaluator = UsdBridgeTimeEvaluator<T>;
#define MISC_TOKEN_SEQ \
(Root) \
(extent)
#define ATTRIB_TOKEN_SEQ \
(faceVertexCounts) \
(faceVertexIndices) \
(points) \
(positions) \
(normals) \
(st) \
(attribute0) \
(attribute1) \
(attribute2) \
(attribute3) \
(attribute4) \
(attribute5) \
(attribute6) \
(attribute7) \
(attribute8) \
(attribute9) \
(attribute10) \
(attribute11) \
(attribute12) \
(attribute13) \
(attribute14) \
(attribute15) \
(color) \
(ids) \
(widths) \
(protoIndices) \
(orientations) \
(scales) \
(velocities) \
(angularVelocities) \
(invisibleIds) \
(curveVertexCounts)
#define USDPREVSURF_TOKEN_SEQ \
(UsdPreviewSurface) \
(useSpecularWorkflow) \
(result) \
(surface) \
((PrimVarReader_Float, "UsdPrimvarReader_float")) \
((PrimVarReader_Float2, "UsdPrimvarReader_float2")) \
((PrimVarReader_Float3, "UsdPrimvarReader_float3")) \
((PrimVarReader_Float4, "UsdPrimvarReader_float4")) \
(UsdUVTexture) \
(fallback) \
(r) \
(rg) \
(rgb) \
(black) \
(clamp) \
(repeat) \
(mirror)
#define USDPREVSURF_INPUT_TOKEN_SEQ \
(roughness) \
(opacity) \
(opacityThreshold) \
(metallic) \
(ior) \
(diffuseColor) \
(specularColor) \
(emissiveColor) \
(file) \
(WrapS) \
(WrapT) \
(WrapR) \
(varname)
#define USDPREVSURF_OUTPUT_TOKEN_SEQ \
(result) \
(r) \
(rg) \
(rgb) \
(a)
#define MDL_OUTPUT_TOKEN_SEQ \
(out)
#define MDL_TOKEN_SEQ \
(mdl) \
(OmniPBR) \
(sourceAsset) \
(out) \
(data_lookup_float) \
(data_lookup_float2) \
(data_lookup_float3) \
(data_lookup_float4) \
(data_lookup_int) \
(data_lookup_int2) \
(data_lookup_int3) \
(data_lookup_int4) \
(data_lookup_color) \
(lookup_color) \
(lookup_float) \
(lookup_float3) \
(lookup_float4) \
((xyz, "xyz(float4)")) \
((x, "x(float4)")) \
((y, "y(float4)")) \
((z, "z(float4)")) \
((w, "w(float4)")) \
((construct_color, "construct_color(float3)")) \
((mul_float, "multiply(float,float)")) \
(coord) \
(colorSpace)
#define MDL_INPUT_TOKEN_SEQ \
(reflection_roughness_constant) \
(opacity_constant) \
(opacity_threshold) \
(enable_opacity) \
(metallic_constant) \
(ior_constant) \
(diffuse_color_constant) \
(emissive_color) \
(emissive_intensity) \
(enable_emission) \
(name) \
(tex) \
(wrap_u) \
(wrap_v) \
(wrap_w) \
(a) \
(b) \
#define VOLUME_TOKEN_SEQ \
(density) \
(filePath)
#define INDEX_TOKEN_SEQ \
(nvindex) \
(volume) \
(colormap) \
(Colormap) \
(colormapValues) \
(colormapSource) \
(domain) \
(domainBoundaryMode) \
(clampToEdge)
TF_DECLARE_PUBLIC_TOKENS(
UsdBridgeTokens,
ATTRIB_TOKEN_SEQ
USDPREVSURF_TOKEN_SEQ
USDPREVSURF_INPUT_TOKEN_SEQ
MDL_TOKEN_SEQ
MDL_INPUT_TOKEN_SEQ
VOLUME_TOKEN_SEQ
INDEX_TOKEN_SEQ
MISC_TOKEN_SEQ
);
TF_DECLARE_PUBLIC_TOKENS(
QualifiedInputTokens,
USDPREVSURF_INPUT_TOKEN_SEQ
MDL_INPUT_TOKEN_SEQ
);
TF_DECLARE_PUBLIC_TOKENS(
QualifiedOutputTokens,
USDPREVSURF_OUTPUT_TOKEN_SEQ
MDL_OUTPUT_TOKEN_SEQ
);
namespace constring
{
// Default names
extern const char* const sessionPf;
extern const char* const rootClassName;
extern const char* const rootPrimName;
// Folder names
extern const char* const manifestFolder;
extern const char* const clipFolder;
extern const char* const primStageFolder;
extern const char* const imgFolder;
extern const char* const volFolder;
// Postfixes for auto generated usd subprims
extern const char* const texCoordReaderPrimPf;
extern const char* const psShaderPrimPf;
extern const char* const mdlShaderPrimPf;
extern const char* const mdlOpacityMulPrimPf;
extern const char* const mdlDiffuseOpacityPrimPf;
extern const char* const mdlGraphXYZPrimPf;
extern const char* const mdlGraphColorPrimPf;
extern const char* const mdlGraphXPrimPf;
extern const char* const mdlGraphYPrimPf;
extern const char* const mdlGraphZPrimPf;
extern const char* const mdlGraphWPrimPf;
extern const char* const psSamplerPrimPf;
extern const char* const mdlSamplerPrimPf;
extern const char* const openVDBPrimPf;
extern const char* const protoShapePf;
// Extensions
extern const char* const imageExtension;
extern const char* const vdbExtension;
// Files
extern const char* const fullSceneNameBin;
extern const char* const fullSceneNameAscii;
extern const char* const mdlShaderAssetName;
extern const char* const mdlSupportAssetName;
extern const char* const mdlAuxAssetName;
#ifdef CUSTOM_PBR_MDL
extern const char* const mdlFolder;
extern const char* const opaqueMaterialFile;
extern const char* const transparentMaterialFile;
#endif
#ifdef USE_INDEX_MATERIALS
extern const char* const indexMaterialPf;
extern const char* const indexShaderPf;
extern const char* const indexColorMapPf;
#endif
}
template<typename ArrayType>
ArrayType& GetStaticTempArray()
{
static ArrayType array;
array.resize(0);
return array;
}
namespace
{
size_t FindLength(std::stringstream& strStream)
{
strStream.seekg(0, std::ios::end);
size_t contentSize = strStream.tellg();
strStream.seekg(0, std::ios::beg);
return contentSize;
}
void FormatDirName(std::string& dirName)
{
if (dirName.length() > 0)
{
if (dirName.back() != '/' && dirName.back() != '\\')
dirName.append("/");
}
}
template<typename NormalsType>
void ConvertNormalsToQuaternions(VtQuathArray& quaternions, const void* normals, uint64_t numVertices)
{
GfVec3f from(0.0f, 0.0f, 1.0f);
NormalsType* norms = (NormalsType*)(normals);
for (int i = 0; i < numVertices; ++i)
{
GfVec3f to((float)(norms[i * 3]), (float)(norms[i * 3 + 1]), (float)(norms[i * 3 + 2]));
GfRotation rot(from, to);
const GfQuaternion& quat = rot.GetQuaternion();
quaternions[i] = GfQuath((float)(quat.GetReal()), GfVec3h(quat.GetImaginary()));
}
}
template<typename GeomDataType>
bool UsdGeomDataHasTexCoords(const GeomDataType& geomData)
{
return geomData.Attributes != nullptr &&
geomData.Attributes[0].Data != nullptr &&
(
geomData.Attributes[0].DataType == UsdBridgeType::FLOAT2 ||
geomData.Attributes[0].DataType == UsdBridgeType::DOUBLE2
);
}
TfToken AttribIndexToToken(uint32_t attribIndex)
{
TfToken attribToken;
switch(attribIndex)
{
case 0: attribToken = UsdBridgeTokens->attribute0; break;
case 1: attribToken = UsdBridgeTokens->attribute1; break;
case 2: attribToken = UsdBridgeTokens->attribute2; break;
case 3: attribToken = UsdBridgeTokens->attribute3; break;
case 4: attribToken = UsdBridgeTokens->attribute4; break;
case 5: attribToken = UsdBridgeTokens->attribute5; break;
case 6: attribToken = UsdBridgeTokens->attribute6; break;
case 7: attribToken = UsdBridgeTokens->attribute7; break;
case 8: attribToken = UsdBridgeTokens->attribute8; break;
case 9: attribToken = UsdBridgeTokens->attribute9; break;
case 10: attribToken = UsdBridgeTokens->attribute10; break;
case 11: attribToken = UsdBridgeTokens->attribute11; break;
case 12: attribToken = UsdBridgeTokens->attribute12; break;
case 13: attribToken = UsdBridgeTokens->attribute13; break;
case 14: attribToken = UsdBridgeTokens->attribute14; break;
case 15: attribToken = UsdBridgeTokens->attribute15; break;
default: attribToken = TfToken((std::string("attribute")+std::to_string(attribIndex)).c_str()); break;
}
return attribToken;
}
TfToken TextureWrapToken(UsdBridgeSamplerData::WrapMode wrapMode)
{
TfToken result = UsdBridgeTokens->black;
switch (wrapMode)
{
case UsdBridgeSamplerData::WrapMode::CLAMP:
result = UsdBridgeTokens->clamp;
break;
case UsdBridgeSamplerData::WrapMode::REPEAT:
result = UsdBridgeTokens->repeat;
break;
case UsdBridgeSamplerData::WrapMode::MIRROR:
result = UsdBridgeTokens->mirror;
break;
default:
break;
}
return result;
}
int TextureWrapInt(UsdBridgeSamplerData::WrapMode wrapMode)
{
int result = 3;
switch (wrapMode)
{
case UsdBridgeSamplerData::WrapMode::CLAMP:
result = 0;
break;
case UsdBridgeSamplerData::WrapMode::REPEAT:
result = 1;
break;
case UsdBridgeSamplerData::WrapMode::MIRROR:
result = 2;
break;
default:
break;
}
return result;
}
SdfValueTypeName GetPrimvarArrayType(UsdBridgeType eltType)
{
assert(eltType != UsdBridgeType::UNDEFINED);
SdfValueTypeName result = SdfValueTypeNames->BoolArray;
switch (eltType)
{
case UsdBridgeType::UCHAR:
case UsdBridgeType::CHAR: { result = SdfValueTypeNames->UCharArray; break;}
case UsdBridgeType::USHORT: { result = SdfValueTypeNames->UIntArray; break; }
case UsdBridgeType::SHORT: { result = SdfValueTypeNames->IntArray; break; }
case UsdBridgeType::UINT: { result = SdfValueTypeNames->UIntArray; break; }
case UsdBridgeType::INT: { result = SdfValueTypeNames->IntArray; break; }
case UsdBridgeType::LONG: { result = SdfValueTypeNames->Int64Array; break; }
case UsdBridgeType::ULONG: { result = SdfValueTypeNames->UInt64Array; break; }
case UsdBridgeType::HALF: { result = SdfValueTypeNames->HalfArray; break; }
case UsdBridgeType::FLOAT: { result = SdfValueTypeNames->FloatArray; break; }
case UsdBridgeType::DOUBLE: { result = SdfValueTypeNames->DoubleArray; break; }
case UsdBridgeType::INT2: { result = SdfValueTypeNames->Int2Array; break; }
case UsdBridgeType::HALF2: { result = SdfValueTypeNames->Half2Array; break; }
case UsdBridgeType::FLOAT2: { result = SdfValueTypeNames->Float2Array; break; }
case UsdBridgeType::DOUBLE2: { result = SdfValueTypeNames->Double2Array; break; }
case UsdBridgeType::INT3: { result = SdfValueTypeNames->Int3Array; break; }
case UsdBridgeType::HALF3: { result = SdfValueTypeNames->Half3Array; break; }
case UsdBridgeType::FLOAT3: { result = SdfValueTypeNames->Float3Array; break; }
case UsdBridgeType::DOUBLE3: { result = SdfValueTypeNames->Double3Array; break; }
case UsdBridgeType::INT4: { result = SdfValueTypeNames->Int4Array; break; }
case UsdBridgeType::HALF4: { result = SdfValueTypeNames->Half4Array; break; }
case UsdBridgeType::FLOAT4: { result = SdfValueTypeNames->Float4Array; break; }
case UsdBridgeType::DOUBLE4: { result = SdfValueTypeNames->Double4Array; break; }
case UsdBridgeType::UCHAR2:
case UsdBridgeType::UCHAR3:
case UsdBridgeType::UCHAR4: { result = SdfValueTypeNames->UCharArray; break; }
case UsdBridgeType::CHAR2:
case UsdBridgeType::CHAR3:
case UsdBridgeType::CHAR4: { result = SdfValueTypeNames->UCharArray; break; }
case UsdBridgeType::USHORT2:
case UsdBridgeType::USHORT3:
case UsdBridgeType::USHORT4: { result = SdfValueTypeNames->UIntArray; break; }
case UsdBridgeType::SHORT2:
case UsdBridgeType::SHORT3:
case UsdBridgeType::SHORT4: { result = SdfValueTypeNames->IntArray; break; }
case UsdBridgeType::UINT2:
case UsdBridgeType::UINT3:
case UsdBridgeType::UINT4: { result = SdfValueTypeNames->UIntArray; break; }
case UsdBridgeType::LONG2:
case UsdBridgeType::LONG3:
case UsdBridgeType::LONG4: { result = SdfValueTypeNames->Int64Array; break; }
case UsdBridgeType::ULONG2:
case UsdBridgeType::ULONG3:
case UsdBridgeType::ULONG4: { result = SdfValueTypeNames->UInt64Array; break; }
default: break; //unsupported defaults to bool
};
return result;
}
template<bool PreviewSurface>
const TfToken& GetMaterialShaderInputToken(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
if(PreviewSurface)
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { return UsdBridgeTokens->diffuseColor; break; }
case DMI::OPACITY: { return UsdBridgeTokens->opacity; break; }
case DMI::EMISSIVECOLOR: { return UsdBridgeTokens->emissiveColor; break; }
case DMI::ROUGHNESS: { return UsdBridgeTokens->roughness; break; }
case DMI::METALLIC: { return UsdBridgeTokens->metallic; break; }
case DMI::IOR: { return UsdBridgeTokens->ior; break; }
default: assert(false); break;
};
}
else
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { return UsdBridgeTokens->diffuse_color_constant; break; }
case DMI::OPACITY: { return UsdBridgeTokens->opacity_constant; break; }
case DMI::EMISSIVECOLOR: { return UsdBridgeTokens->emissive_color; break; }
case DMI::EMISSIVEINTENSITY: { return UsdBridgeTokens->emissive_intensity; break; }
case DMI::ROUGHNESS: { return UsdBridgeTokens->reflection_roughness_constant; break; }
case DMI::METALLIC: { return UsdBridgeTokens->metallic_constant; break; }
case DMI::IOR: { return UsdBridgeTokens->ior_constant; break; }
default: assert(false); break;
};
}
return UsdBridgeTokens->diffuseColor;
}
template<bool PreviewSurface>
const TfToken& GetMaterialShaderInputQualifiedToken(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
if(PreviewSurface)
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { return QualifiedInputTokens->diffuseColor; break; }
case DMI::OPACITY: { return QualifiedInputTokens->opacity; break; }
case DMI::EMISSIVECOLOR: { return QualifiedInputTokens->emissiveColor; break; }
case DMI::ROUGHNESS: { return QualifiedInputTokens->roughness; break; }
case DMI::METALLIC: { return QualifiedInputTokens->metallic; break; }
case DMI::IOR: { return QualifiedInputTokens->ior; break; }
default: assert(false); break;
};
}
else
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { return QualifiedInputTokens->diffuse_color_constant; break; }
case DMI::OPACITY: { return QualifiedInputTokens->opacity_constant; break; }
case DMI::EMISSIVECOLOR: { return QualifiedInputTokens->emissive_color; break; }
case DMI::EMISSIVEINTENSITY: { return QualifiedInputTokens->emissive_intensity; break; }
case DMI::ROUGHNESS: { return QualifiedInputTokens->reflection_roughness_constant; break; }
case DMI::METALLIC: { return QualifiedInputTokens->metallic_constant; break; }
case DMI::IOR: { return QualifiedInputTokens->ior_constant; break; }
default: assert(false); break;
};
}
return QualifiedInputTokens->diffuseColor;
}
template<bool PreviewSurface>
SdfPath GetAttributeReaderPathPf(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
const char* const diffuseAttribReaderPrimPf_ps = "diffuseattribreader_ps";
const char* const opacityAttribReaderPrimPf_ps = "opacityattribreader_ps";
const char* const emissiveColorAttribReaderPrimPf_ps = "emissivecolorattribreader_ps";
const char* const emissiveIntensityAttribReaderPrimPf_ps = "emissiveintensityattribreader_ps";
const char* const roughnessAttribReaderPrimPf_ps = "roughnessattribreader_ps";
const char* const metallicAttribReaderPrimPf_ps = "metallicattribreader_ps";
const char* const iorAttribReaderPrimPf_ps = "iorattribreader_ps";
const char* const diffuseAttribReaderPrimPf_mdl = "diffuseattribreader_mdl";
const char* const opacityAttribReaderPrimPf_mdl = "opacityattribreader_mdl";
const char* const emissiveColorAttribReaderPrimPf_mdl = "emissivecolorattribreader_mdl";
const char* const emissiveIntensityAttribReaderPrimPf_mdl = "emissiveintensityattribreader_mdl";
const char* const roughnessAttribReaderPrimPf_mdl = "roughnessattribreader_mdl";
const char* const metallicAttribReaderPrimPf_mdl = "metallicattribreader_mdl";
const char* const iorAttribReaderPrimPf_mdl = "iorattribreader_mdl";
const char* result = nullptr;
if(PreviewSurface)
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { result = diffuseAttribReaderPrimPf_ps; break; }
case DMI::OPACITY: { result = opacityAttribReaderPrimPf_ps; break; }
case DMI::EMISSIVECOLOR: { result = emissiveColorAttribReaderPrimPf_ps; break; }
case DMI::EMISSIVEINTENSITY: { result = emissiveIntensityAttribReaderPrimPf_ps; break; }
case DMI::ROUGHNESS: { result = roughnessAttribReaderPrimPf_ps; break; }
case DMI::METALLIC: { result = metallicAttribReaderPrimPf_ps; break; }
case DMI::IOR: { result = iorAttribReaderPrimPf_ps; break; }
default: assert(false); break;
};
}
else
{
switch(dataMemberId)
{
case DMI::DIFFUSE: { result = diffuseAttribReaderPrimPf_mdl; break; }
case DMI::OPACITY: { result = opacityAttribReaderPrimPf_mdl; break; }
case DMI::EMISSIVECOLOR: { result = emissiveColorAttribReaderPrimPf_mdl; break; }
case DMI::EMISSIVEINTENSITY: { result = emissiveIntensityAttribReaderPrimPf_mdl; break; }
case DMI::ROUGHNESS: { result = roughnessAttribReaderPrimPf_mdl; break; }
case DMI::METALLIC: { result = metallicAttribReaderPrimPf_mdl; break; }
case DMI::IOR: { result = iorAttribReaderPrimPf_mdl; break; }
default: assert(false); break;
};
}
return SdfPath(result);
}
const TfToken& GetPsAttributeReaderId(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
switch(dataMemberId)
{
case DMI::DIFFUSE: { return UsdBridgeTokens->PrimVarReader_Float4; break; } // float4 instead of float4, to fix implicit conversion issue in storm
case DMI::OPACITY: { return UsdBridgeTokens->PrimVarReader_Float; break; }
case DMI::EMISSIVECOLOR: { return UsdBridgeTokens->PrimVarReader_Float3; break; }
case DMI::EMISSIVEINTENSITY: { return UsdBridgeTokens->PrimVarReader_Float; break; }
case DMI::ROUGHNESS: { return UsdBridgeTokens->PrimVarReader_Float; break; }
case DMI::METALLIC: { return UsdBridgeTokens->PrimVarReader_Float; break; }
case DMI::IOR: { return UsdBridgeTokens->PrimVarReader_Float; break; }
default: { assert(false); break; }
};
return UsdBridgeTokens->PrimVarReader_Float;
}
const TfToken& GetMdlAttributeReaderSubId(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
switch(dataMemberId)
{
case DMI::DIFFUSE: { return UsdBridgeTokens->data_lookup_float4; break; }
case DMI::OPACITY: { return UsdBridgeTokens->data_lookup_float; break; }
case DMI::EMISSIVECOLOR: { return UsdBridgeTokens->data_lookup_color; break; }
case DMI::EMISSIVEINTENSITY: { return UsdBridgeTokens->data_lookup_float; break; }
case DMI::ROUGHNESS: { return UsdBridgeTokens->data_lookup_float; break; }
case DMI::METALLIC: { return UsdBridgeTokens->data_lookup_float; break; }
case DMI::IOR: { return UsdBridgeTokens->data_lookup_float; break; }
default: { assert(false); break; }
};
return UsdBridgeTokens->data_lookup_float4;
}
const TfToken& GetMdlAttributeReaderSubId(const SdfValueTypeName& readerOutputType)
{
if(readerOutputType == SdfValueTypeNames->Float4)
return UsdBridgeTokens->data_lookup_float4;
if(readerOutputType == SdfValueTypeNames->Float3)
return UsdBridgeTokens->data_lookup_float3;
if(readerOutputType == SdfValueTypeNames->Float2)
return UsdBridgeTokens->data_lookup_float2;
if(readerOutputType == SdfValueTypeNames->Float)
return UsdBridgeTokens->data_lookup_float;
if(readerOutputType == SdfValueTypeNames->Int4)
return UsdBridgeTokens->data_lookup_int4;
if(readerOutputType == SdfValueTypeNames->Int3)
return UsdBridgeTokens->data_lookup_int3;
if(readerOutputType == SdfValueTypeNames->Int2)
return UsdBridgeTokens->data_lookup_int2;
if(readerOutputType == SdfValueTypeNames->Int)
return UsdBridgeTokens->data_lookup_int;
if(readerOutputType == SdfValueTypeNames->Color3f)
return UsdBridgeTokens->data_lookup_color;
return UsdBridgeTokens->data_lookup_float4;
}
const SdfValueTypeName& GetAttributeOutputType(UsdBridgeMaterialData::DataMemberId dataMemberId)
{
using DMI = UsdBridgeMaterialData::DataMemberId;
// An educated guess for the type belonging to a particular attribute bound to material inputs
switch(dataMemberId)
{
case DMI::DIFFUSE: { return SdfValueTypeNames->Float4; break; } // Typically bound to the color array, containing rgb and a information.
case DMI::OPACITY: { return SdfValueTypeNames->Float; break; }
case DMI::EMISSIVECOLOR: { return SdfValueTypeNames->Color3f; break; }
case DMI::EMISSIVEINTENSITY: { return SdfValueTypeNames->Float; break; }
case DMI::ROUGHNESS: { return SdfValueTypeNames->Float; break; }
case DMI::METALLIC: { return SdfValueTypeNames->Float; break; }
case DMI::IOR: { return SdfValueTypeNames->Float; break; }
default: assert(false); break;
};
return SdfValueTypeNames->Float;
}
const TfToken& GetSamplerAssetSubId(int numComponents)
{
switch(numComponents)
{
case 1: { return UsdBridgeTokens->lookup_float; break; }
case 4: { return UsdBridgeTokens->lookup_float4; break; }
default: { return UsdBridgeTokens->lookup_float3; break; }
}
return UsdBridgeTokens->lookup_float3;
}
template<bool PreviewSurface>
const TfToken& GetSamplerOutputColorToken(int numComponents)
{
if(PreviewSurface)
{
switch(numComponents)
{
case 1: { return UsdBridgeTokens->r; break; }
case 2: { return UsdBridgeTokens->rg; break; }
default: { return UsdBridgeTokens->rgb; break; } // The alpha component is always separate
}
}
return UsdBridgeTokens->out;
}
template<bool PreviewSurface>
const SdfValueTypeName& GetSamplerOutputColorType(int numComponents)
{
if(PreviewSurface)
{
switch(numComponents)
{
case 1: { return SdfValueTypeNames->Float; break; }
case 2: { return SdfValueTypeNames->Float2; break; }
default: { return SdfValueTypeNames->Float3; break; } // The alpha component is always separate
}
}
else
{
switch(numComponents)
{
case 1: { return SdfValueTypeNames->Float; break; }
case 4: { return SdfValueTypeNames->Float4; break; }
default: { return SdfValueTypeNames->Float3; break; }
}
}
return SdfValueTypeNames->Float3;
}
template<class T>
T GetOrDefinePrim(const UsdStageRefPtr& stage, const SdfPath& path)
{
T prim = T::Get(stage, path);
if (!prim)
prim = T::Define(stage, path);
assert(prim);
return prim;
}
template<typename ValueType>
void ClearAndSetUsdAttribute(const UsdAttribute& attribute, const ValueType& value, const UsdTimeCode& timeCode, bool clearAttrib)
{
if(clearAttrib)
attribute.Clear();
attribute.Set(value, timeCode);
}
void ClearUsdAttributes(const UsdAttribute& uniformAttrib, const UsdAttribute& timeVarAttrib, bool timeVaryingUpdate)
{
#ifdef TIME_BASED_CACHING
#ifdef VALUE_CLIP_RETIMING
// Step could be performed to keep timeVar stage more in sync, but removal of attrib from manifest makes this superfluous
//if (!timeVaryingUpdate && timeVarGeom)
//{
// timeVarAttrib.ClearAtTime(timeEval.TimeCode);
//}
#ifdef OMNIVERSE_CREATE_WORKAROUNDS
if(timeVaryingUpdate && uniformAttrib)
{
// Create considers the referenced uniform prims as a stronger opinion than timeVarying clip values (against the spec, see 'value resolution').
// Just remove the referenced uniform opinion altogether.
uniformAttrib.ClearAtTime(TimeEvaluator<bool>::DefaultTime);
}
#endif
#else // !VALUE_CLIP_RETIMING
// Uniform and timeVar geoms are the same. In case of uniform values, make sure the timesamples are cleared out.
if(!timeVaryingUpdate && timeVarAttrib)
{
timeVarAttrib.Clear();
}
#endif
#endif
}
// Array assignment
template<class ArrayType>
void AssignArrayToPrimvar(const void* data, size_t numElements, const UsdTimeCode& timeCode, ArrayType* usdArray)
{
using ElementType = typename ArrayType::ElementType;
ElementType* typedData = (ElementType*)data;
usdArray->assign(typedData, typedData + numElements);
}
template<class ArrayType>
void AssignArrayToPrimvarFlatten(const void* data, UsdBridgeType dataType, size_t numElements, const UsdTimeCode& timeCode, ArrayType* usdArray)
{
int elementMultiplier = UsdBridgeTypeNumComponents(dataType);
size_t numFlattenedElements = numElements * elementMultiplier;
AssignArrayToPrimvar<ArrayType>(data, numFlattenedElements, timeCode, usdArray);
}
template<class ArrayType, class EltType>
void AssignArrayToPrimvarConvert(const void* data, size_t numElements, const UsdTimeCode& timeCode, ArrayType* usdArray)
{
using ElementType = typename ArrayType::ElementType;
EltType* typedData = (EltType*)data;
usdArray->resize(numElements);
for (int i = 0; i < numElements; ++i)
{
(*usdArray)[i] = ElementType(typedData[i]);
}
}
template<class ArrayType, class EltType>
void AssignArrayToPrimvarConvertFlatten(const void* data, UsdBridgeType dataType, size_t numElements, const UsdTimeCode& timeCode, ArrayType* usdArray)
{
int elementMultiplier = UsdBridgeTypeNumComponents(dataType);
size_t numFlattenedElements = numElements * elementMultiplier;
AssignArrayToPrimvarConvert<ArrayType, EltType>(data, numFlattenedElements, timeCode, usdArray);
}
template<typename ArrayType, typename EltType>
void Expand1ToVec3(const void* data, uint64_t numElements, const UsdTimeCode& timeCode, ArrayType* usdArray)
{
usdArray->resize(numElements);
const EltType* typedInput = reinterpret_cast<const EltType*>(data);
for (int i = 0; i < numElements; ++i)
{
(*usdArray)[i] = typename ArrayType::ElementType(typedInput[i], typedInput[i], typedInput[i]);
}
}
template<typename InputEltType, int numComponents>
void ExpandToColor(const void* data, uint64_t numElements, const UsdTimeCode& timeCode, VtVec4fArray* usdArray)
{
usdArray->resize(numElements);
const InputEltType* typedInput = reinterpret_cast<const InputEltType*>(data);
// No memcopies, as input is not guaranteed to be of float type
if(numComponents == 1)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i], 0.0f, 0.0f, 1.0f);
if(numComponents == 2)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i*2], typedInput[i*2+1], 0.0f, 1.0f);
if(numComponents == 3)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i*3], typedInput[i*3+1], typedInput[i*3+2], 1.0f);
}
template<typename InputEltType, int numComponents>
void ExpandToColorNormalize(const void* data, uint64_t numElements, const UsdTimeCode& timeCode, VtVec4fArray* usdArray)
{
usdArray->resize(numElements);
const InputEltType* typedInput = reinterpret_cast<const InputEltType*>(data);
double normFactor = 1.0 / (double)std::numeric_limits<InputEltType>::max(); // float may not be enough for uint32_t
// No memcopies, as input is not guaranteed to be of float type
if(numComponents == 1)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i]*normFactor, 0.0f, 0.0f, 1.0f);
if(numComponents == 2)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i*2]*normFactor, typedInput[i*2+1]*normFactor, 0.0f, 1.0f);
if(numComponents == 3)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i*3]*normFactor, typedInput[i*3+1]*normFactor, typedInput[i*3+2]*normFactor, 1.0f);
if(numComponents == 4)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(typedInput[i*4]*normFactor, typedInput[i*4+1]*normFactor, typedInput[i*4+2]*normFactor, typedInput[i*4+3]*normFactor);
}
template<int numComponents>
void ExpandSRGBToColor(const void* data, uint64_t numElements, const UsdTimeCode& timeCode, VtVec4fArray* usdArray)
{
usdArray->resize(numElements);
const unsigned char* typedInput = reinterpret_cast<const unsigned char*>(data);
float normFactor = 1.0f / 255.0f;
const float* srgbTable = ubutils::SrgbToLinearTable();
// No memcopies, as input is not guaranteed to be of float type
if(numComponents == 1)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(srgbTable[typedInput[i]], 0.0f, 0.0f, 1.0f);
if(numComponents == 2)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(srgbTable[typedInput[i*2]], 0.0f, 0.0f, typedInput[i*2+1]*normFactor); // Alpha is linear
if(numComponents == 3)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(srgbTable[typedInput[i*3]], srgbTable[typedInput[i*3+1]], srgbTable[typedInput[i*3+2]], 1.0f);
if(numComponents == 4)
for (int i = 0; i < numElements; ++i)
(*usdArray)[i] = GfVec4f(srgbTable[typedInput[i*4]], srgbTable[typedInput[i*4+1]], srgbTable[typedInput[i*4+2]], typedInput[i*4+3]*normFactor);
}
}
#define CREATE_REMOVE_TIMEVARYING_ATTRIB(_prim, _dataMemberId, _token, _type) \
if(!timeEval || timeEval->IsTimeVarying(_dataMemberId)) \
_prim.CreateAttribute(_token, _type); \
else \
_prim.RemoveProperty(_token);
#define CREATE_REMOVE_TIMEVARYING_ATTRIB_QUALIFIED(_dataMemberId, _CreateFunc, _token) \
if(!timeEval || timeEval->IsTimeVarying(_dataMemberId)) \
attribCreatePrim._CreateFunc(); \
else \
attribRemovePrim.RemoveProperty(_token);
#define SET_TIMEVARYING_ATTRIB(_timeVaryingUpdate, _timeVarAttrib, _uniformAttrib, _value) \
if(_timeVaryingUpdate) \
_timeVarAttrib.Set(_value, timeEval.TimeCode); \
else \
_uniformAttrib.Set(_value, timeEval.Default());
#define ASSIGN_SET_PRIMVAR if(setPrimvar) arrayPrimvar.Set(usdArray, timeCode)
#define ASSIGN_PRIMVAR_MACRO(ArrayType) \
ArrayType& usdArray = GetStaticTempArray<ArrayType>(); AssignArrayToPrimvar<ArrayType>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_FLATTEN_MACRO(ArrayType) \
ArrayType& usdArray = GetStaticTempArray<ArrayType>(); AssignArrayToPrimvarFlatten<ArrayType>(arrayData, arrayDataType, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_CONVERT_MACRO(ArrayType, EltType) \
ArrayType& usdArray = GetStaticTempArray<ArrayType>(); AssignArrayToPrimvarConvert<ArrayType, EltType>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_CONVERT_FLATTEN_MACRO(ArrayType, EltType) \
ArrayType& usdArray = GetStaticTempArray<ArrayType>(); AssignArrayToPrimvarConvertFlatten<ArrayType, EltType>(arrayData, arrayDataType, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_CUSTOM_ARRAY_MACRO(ArrayType, customArray) \
ArrayType& usdArray = customArray; AssignArrayToPrimvar<ArrayType>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_CONVERT_CUSTOM_ARRAY_MACRO(ArrayType, EltType, customArray) \
ArrayType& usdArray = customArray; AssignArrayToPrimvarConvert<ArrayType, EltType>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_1EXPAND3(ArrayType, EltType) \
ArrayType& usdArray = GetStaticTempArray<ArrayType>(); Expand1ToVec3<ArrayType, EltType>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_1EXPAND_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColor<EltType, 1>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_2EXPAND_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColor<EltType, 2>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_3EXPAND_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColor<EltType, 3>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_1EXPAND_NORMALIZE_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColorNormalize<EltType, 1>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_2EXPAND_NORMALIZE_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColorNormalize<EltType, 2>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_3EXPAND_NORMALIZE_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColorNormalize<EltType, 3>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_4EXPAND_NORMALIZE_COL(EltType) \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandToColorNormalize<EltType, 4>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_1EXPAND_SGRB() \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandSRGBToColor<1>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_2EXPAND_SGRB() \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandSRGBToColor<2>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_3EXPAND_SGRB() \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandSRGBToColor<3>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define ASSIGN_PRIMVAR_MACRO_4EXPAND_SGRB() \
VtVec4fArray& usdArray = GetStaticTempArray<VtVec4fArray>(); ExpandSRGBToColor<4>(arrayData, arrayNumElements, timeCode, &usdArray); ASSIGN_SET_PRIMVAR
#define GET_USDARRAY_REF usdArrayRef = &usdArray
namespace
{
// Assigns color data array to VtVec4fArray primvar
VtVec4fArray* AssignColorArrayToPrimvar(const UsdBridgeLogObject& logObj, const void* arrayData, size_t arrayNumElements, UsdBridgeType arrayType, UsdTimeCode timeCode, const UsdAttribute& arrayPrimvar, bool setPrimvar = true)
{
VtVec4fArray* usdArrayRef = nullptr;
switch (arrayType)
{
case UsdBridgeType::UCHAR: {ASSIGN_PRIMVAR_MACRO_1EXPAND_NORMALIZE_COL(uint8_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR2: {ASSIGN_PRIMVAR_MACRO_2EXPAND_NORMALIZE_COL(uint8_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR3: {ASSIGN_PRIMVAR_MACRO_3EXPAND_NORMALIZE_COL(uint8_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR4: {ASSIGN_PRIMVAR_MACRO_4EXPAND_NORMALIZE_COL(uint8_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR_SRGB_R: {ASSIGN_PRIMVAR_MACRO_1EXPAND_SGRB(); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR_SRGB_RA: {ASSIGN_PRIMVAR_MACRO_2EXPAND_SGRB(); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR_SRGB_RGB: {ASSIGN_PRIMVAR_MACRO_3EXPAND_SGRB(); GET_USDARRAY_REF; break; }
case UsdBridgeType::UCHAR_SRGB_RGBA: {ASSIGN_PRIMVAR_MACRO_4EXPAND_SGRB(); GET_USDARRAY_REF; break; }
case UsdBridgeType::USHORT: {ASSIGN_PRIMVAR_MACRO_1EXPAND_NORMALIZE_COL(uint16_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::USHORT2: {ASSIGN_PRIMVAR_MACRO_2EXPAND_NORMALIZE_COL(uint16_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::USHORT3: {ASSIGN_PRIMVAR_MACRO_3EXPAND_NORMALIZE_COL(uint16_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::USHORT4: {ASSIGN_PRIMVAR_MACRO_4EXPAND_NORMALIZE_COL(uint16_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UINT: {ASSIGN_PRIMVAR_MACRO_1EXPAND_NORMALIZE_COL(uint32_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UINT2: {ASSIGN_PRIMVAR_MACRO_2EXPAND_NORMALIZE_COL(uint32_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UINT3: {ASSIGN_PRIMVAR_MACRO_3EXPAND_NORMALIZE_COL(uint32_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::UINT4: {ASSIGN_PRIMVAR_MACRO_4EXPAND_NORMALIZE_COL(uint32_t); GET_USDARRAY_REF; break; }
case UsdBridgeType::FLOAT: {ASSIGN_PRIMVAR_MACRO_1EXPAND_COL(float); GET_USDARRAY_REF; break; }
case UsdBridgeType::FLOAT2: {ASSIGN_PRIMVAR_MACRO_2EXPAND_COL(float); GET_USDARRAY_REF; break; }
case UsdBridgeType::FLOAT3: {ASSIGN_PRIMVAR_MACRO_3EXPAND_COL(float); GET_USDARRAY_REF; break; }
case UsdBridgeType::FLOAT4: {ASSIGN_PRIMVAR_MACRO(VtVec4fArray); GET_USDARRAY_REF; break; }
case UsdBridgeType::DOUBLE: {ASSIGN_PRIMVAR_MACRO_1EXPAND_COL(double); GET_USDARRAY_REF; break; }
case UsdBridgeType::DOUBLE2: {ASSIGN_PRIMVAR_MACRO_2EXPAND_COL(double); GET_USDARRAY_REF; break; }
case UsdBridgeType::DOUBLE3: {ASSIGN_PRIMVAR_MACRO_3EXPAND_COL(double); GET_USDARRAY_REF; break; }
case UsdBridgeType::DOUBLE4: {ASSIGN_PRIMVAR_CONVERT_MACRO(VtVec4fArray, GfVec4d); GET_USDARRAY_REF; break; }
default: { UsdBridgeLogMacro(logObj, UsdBridgeLogLevel::ERR, "UsdGeom color primvar is not of type (UCHAR/USHORT/UINT/FLOAT/DOUBLE)(1/2/3/4) or UCHAR_SRGB_<X>."); break; }
}
return usdArrayRef;
}
void AssignAttribArrayToPrimvar(const UsdBridgeLogObject& logObj, const void* arrayData, UsdBridgeType arrayDataType, size_t arrayNumElements, const UsdAttribute& arrayPrimvar, const UsdTimeCode& timeCode)
{
bool setPrimvar = true;
switch (arrayDataType)
{
case UsdBridgeType::UCHAR: { ASSIGN_PRIMVAR_MACRO(VtUCharArray); break; }
case UsdBridgeType::UCHAR_SRGB_R: { ASSIGN_PRIMVAR_MACRO(VtUCharArray); break; }
case UsdBridgeType::CHAR: { ASSIGN_PRIMVAR_MACRO(VtUCharArray); break; }
case UsdBridgeType::USHORT: { ASSIGN_PRIMVAR_CONVERT_MACRO(VtUIntArray, short); break; }
case UsdBridgeType::SHORT: { ASSIGN_PRIMVAR_CONVERT_MACRO(VtIntArray, unsigned short); break; }
case UsdBridgeType::UINT: { ASSIGN_PRIMVAR_MACRO(VtUIntArray); break; }
case UsdBridgeType::INT: { ASSIGN_PRIMVAR_MACRO(VtIntArray); break; }
case UsdBridgeType::LONG: { ASSIGN_PRIMVAR_MACRO(VtInt64Array); break; }
case UsdBridgeType::ULONG: { ASSIGN_PRIMVAR_MACRO(VtUInt64Array); break; }
case UsdBridgeType::HALF: { ASSIGN_PRIMVAR_MACRO(VtHalfArray); break; }
case UsdBridgeType::FLOAT: { ASSIGN_PRIMVAR_MACRO(VtFloatArray); break; }
case UsdBridgeType::DOUBLE: { ASSIGN_PRIMVAR_MACRO(VtDoubleArray); break; }
case UsdBridgeType::INT2: { ASSIGN_PRIMVAR_MACRO(VtVec2iArray); break; }
case UsdBridgeType::FLOAT2: { ASSIGN_PRIMVAR_MACRO(VtVec2fArray); break; }
case UsdBridgeType::DOUBLE2: { ASSIGN_PRIMVAR_MACRO(VtVec2dArray); break; }
case UsdBridgeType::INT3: { ASSIGN_PRIMVAR_MACRO(VtVec3iArray); break; }
case UsdBridgeType::FLOAT3: { ASSIGN_PRIMVAR_MACRO(VtVec3fArray); break; }
case UsdBridgeType::DOUBLE3: { ASSIGN_PRIMVAR_MACRO(VtVec3dArray); break; }
case UsdBridgeType::INT4: { ASSIGN_PRIMVAR_MACRO(VtVec4iArray); break; }
case UsdBridgeType::FLOAT4: { ASSIGN_PRIMVAR_MACRO(VtVec4fArray); break; }
case UsdBridgeType::DOUBLE4: { ASSIGN_PRIMVAR_MACRO(VtVec4dArray); break; }
case UsdBridgeType::UCHAR2:
case UsdBridgeType::UCHAR3:
case UsdBridgeType::UCHAR4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtUCharArray); break; }
case UsdBridgeType::UCHAR_SRGB_RA:
case UsdBridgeType::UCHAR_SRGB_RGB:
case UsdBridgeType::UCHAR_SRGB_RGBA: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtUCharArray); break; }
case UsdBridgeType::CHAR2:
case UsdBridgeType::CHAR3:
case UsdBridgeType::CHAR4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtUCharArray); break; }
case UsdBridgeType::USHORT2:
case UsdBridgeType::USHORT3:
case UsdBridgeType::USHORT4: { ASSIGN_PRIMVAR_CONVERT_FLATTEN_MACRO(VtUIntArray, short); break; }
case UsdBridgeType::SHORT2:
case UsdBridgeType::SHORT3:
case UsdBridgeType::SHORT4: { ASSIGN_PRIMVAR_CONVERT_FLATTEN_MACRO(VtIntArray, unsigned short); break; }
case UsdBridgeType::UINT2:
case UsdBridgeType::UINT3:
case UsdBridgeType::UINT4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtUIntArray); break; }
case UsdBridgeType::LONG2:
case UsdBridgeType::LONG3:
case UsdBridgeType::LONG4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtInt64Array); break; }
case UsdBridgeType::ULONG2:
case UsdBridgeType::ULONG3:
case UsdBridgeType::ULONG4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtUInt64Array); break; }
case UsdBridgeType::HALF2:
case UsdBridgeType::HALF3:
case UsdBridgeType::HALF4: { ASSIGN_PRIMVAR_FLATTEN_MACRO(VtHalfArray); break; }
default: {UsdBridgeLogMacro(logObj, UsdBridgeLogLevel::ERR, "UsdGeom Attribute<Index> primvar copy does not support source data type: " << arrayDataType) break; }
};
}
}
#endif | 41,699 | C | 40.205534 | 228 | 0.708746 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/UsdBridgeTimeEvaluator.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeTimeEvaluator_h
#define UsdBridgeTimeEvaluator_h
#include "usd.h"
PXR_NAMESPACE_USING_DIRECTIVE
template<class T>
class UsdBridgeTimeEvaluator
{
public:
UsdBridgeTimeEvaluator(const T& data, double timeStep)
: Data(data)
, TimeCode(timeStep)
{
}
UsdBridgeTimeEvaluator(const T& data)
: Data(data)
{
}
const UsdTimeCode& Eval(typename T::DataMemberId member) const
{
#ifdef TIME_BASED_CACHING
if ((Data.TimeVarying & member) != T::DataMemberId::NONE)
return TimeCode;
else
#endif
return DefaultTime;
}
bool IsTimeVarying(typename T::DataMemberId member) const
{
#ifdef TIME_BASED_CACHING
return ((Data.TimeVarying & member) != T::DataMemberId::NONE);
#else
return false;
#endif
}
UsdTimeCode Default() const { return DefaultTime; }
const T& Data;
const UsdTimeCode TimeCode;
static const UsdTimeCode DefaultTime;
};
template<class T>
const UsdTimeCode UsdBridgeTimeEvaluator<T>::DefaultTime = UsdTimeCode::Default();
template<>
class UsdBridgeTimeEvaluator<bool>
{
public:
UsdBridgeTimeEvaluator(bool timeVarying, double timeStep)
: TimeVarying(timeVarying)
, TimeCode(timeStep)
{
}
const UsdTimeCode& Eval() const
{
#ifdef TIME_BASED_CACHING
if (TimeVarying)
return TimeCode;
else
#endif
return DefaultTime;
}
UsdTimeCode Default() const { return DefaultTime; }
const bool TimeVarying;
const UsdTimeCode TimeCode;
static const UsdTimeCode DefaultTime;
};
#endif | 1,583 | C | 18.555555 | 82 | 0.720152 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/UsdBridgeDiagnosticMgrDelegate.cpp |
// Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridgeDiagnosticMgrDelegate.h"
bool UsdBridgeDiagnosticMgrDelegate::OutputEnabled = false;
UsdBridgeDiagnosticMgrDelegate::UsdBridgeDiagnosticMgrDelegate(void* logUserData, UsdBridgeLogCallback logCallback)
: LogUserData(logUserData)
, LogCallback(logCallback)
{}
void UsdBridgeDiagnosticMgrDelegate::IssueError(TfError const& err)
{
LogTfMessage(UsdBridgeLogLevel::ERR, err);
}
void UsdBridgeDiagnosticMgrDelegate::IssueFatalError(TfCallContext const& context,
std::string const& msg)
{
std::string message = TfStringPrintf(
"[USD Internal error]: %s in %s at line %zu of %s",
msg.c_str(), context.GetFunction(), context.GetLine(), context.GetFile()
);
LogMessage(UsdBridgeLogLevel::ERR, message);
}
void UsdBridgeDiagnosticMgrDelegate::IssueStatus(TfStatus const& status)
{
LogTfMessage(UsdBridgeLogLevel::STATUS, status);
}
void UsdBridgeDiagnosticMgrDelegate::IssueWarning(TfWarning const& warning)
{
LogTfMessage(UsdBridgeLogLevel::WARNING, warning);
}
void UsdBridgeDiagnosticMgrDelegate::LogTfMessage(UsdBridgeLogLevel level, TfDiagnosticBase const& diagBase)
{
std::string message = TfStringPrintf(
"[USD Internal Message]: %s with error code %s in %s at line %zu of %s",
diagBase.GetCommentary().c_str(),
TfDiagnosticMgr::GetCodeName(diagBase.GetDiagnosticCode()).c_str(),
diagBase.GetContext().GetFunction(),
diagBase.GetContext().GetLine(),
diagBase.GetContext().GetFile()
);
LogMessage(level, message);
}
void UsdBridgeDiagnosticMgrDelegate::LogMessage(UsdBridgeLogLevel level, const std::string& message)
{
if(OutputEnabled)
LogCallback(level, LogUserData, message.c_str());
} | 1,776 | C++ | 30.175438 | 115 | 0.756194 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/UsdBridgeCaches.cpp | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "usd.h"
PXR_NAMESPACE_USING_DIRECTIVE
#include "UsdBridgeCaches.h"
#include "UsdBridgeUtils.h"
#ifdef VALUE_CLIP_RETIMING
constexpr double UsdBridgePrimCache::PrimStageTimeCode;
#endif
UsdBridgePrimCache::UsdBridgePrimCache(const SdfPath& pp, const SdfPath& nm, ResourceCollectFunc cf)
: PrimPath(pp), Name(nm), ResourceCollect(cf)
#ifndef NDEBUG
, Debug_Name(nm.GetString())
#endif
{
if(cf)
{
ResourceKeys = std::make_unique<ResourceContainer>();
}
}
UsdBridgePrimCache* UsdBridgePrimCache::GetChildCache(const TfToken& nameToken)
{
auto it = std::find_if(this->Children.begin(), this->Children.end(),
[&nameToken](UsdBridgePrimCache* cache) -> bool { return cache->PrimPath.GetNameToken() == nameToken; });
return (it == this->Children.end()) ? nullptr : *it;
}
#ifdef TIME_BASED_CACHING
void UsdBridgePrimCache::SetChildVisibleAtTime(const UsdBridgePrimCache* childCache, double timeCode)
{
auto childIt = std::find(this->Children.begin(), this->Children.end(), childCache);
if(childIt == this->Children.end())
return;
std::vector<double>& visibleTimes = ChildVisibleAtTimes[childIt - this->Children.begin()];
auto timeIt = std::find(visibleTimes.begin(), visibleTimes.end(), timeCode);
if(timeIt == visibleTimes.end())
visibleTimes.push_back(timeCode);
}
bool UsdBridgePrimCache::SetChildInvisibleAtTime(const UsdBridgePrimCache* childCache, double timeCode)
{
auto childIt = std::find(this->Children.begin(), this->Children.end(), childCache);
if(childIt == this->Children.end())
return false;
std::vector<double>& visibleTimes = ChildVisibleAtTimes[childIt - this->Children.begin()];
auto timeIt = std::find(visibleTimes.begin(), visibleTimes.end(), timeCode);
if(timeIt != visibleTimes.end())
{
// Remove the time at visibleTimeIdx
size_t visibleTimeIdx = timeIt - visibleTimes.begin();
visibleTimes[visibleTimeIdx] = visibleTimes.back();
visibleTimes.pop_back();
return visibleTimes.size() == 0; // Return child removed && empty
}
return false;
}
#endif
#ifdef VALUE_CLIP_RETIMING
const UsdStagePair& UsdBridgePrimCache::GetPrimStagePair() const
{
auto it = ClipStages.find(PrimStageTimeCode);
assert(it != ClipStages.end());
return it->second;
}
#endif
void UsdBridgePrimCache::AddChild(UsdBridgePrimCache* child)
{
if(std::find(this->Children.begin(), this->Children.end(), child) != this->Children.end())
return;
this->Children.push_back(child);
child->IncRef();
#ifdef TIME_BASED_CACHING
this->ChildVisibleAtTimes.resize(this->Children.size());
#endif
}
void UsdBridgePrimCache::RemoveChild(UsdBridgePrimCache* child)
{
auto it = std::find(this->Children.begin(), this->Children.end(), child);
// Allow for find to fail; in the case where the bridge is recreated and destroyed,
// a child prim exists which doesn't have a ref in the cache.
if(it != this->Children.end())
{
#ifdef TIME_BASED_CACHING
size_t foundIdx = it - this->Children.begin();
if(foundIdx != this->ChildVisibleAtTimes.size()-1)
this->ChildVisibleAtTimes[foundIdx] = std::move(this->ChildVisibleAtTimes.back());
this->ChildVisibleAtTimes.pop_back();
#endif
child->DecRef();
*it = this->Children.back();
this->Children.pop_back();
}
}
void UsdBridgePrimCache::RemoveUnreferencedChildTree(AtRemoveFunc atRemove)
{
assert(this->RefCount == 0);
atRemove(this);
for (UsdBridgePrimCache* child : this->Children)
{
child->DecRef();
if(child->RefCount == 0)
child->RemoveUnreferencedChildTree(atRemove);
}
this->Children.clear();
}
bool UsdBridgePrimCache::AddResourceKey(UsdBridgeResourceKey key) // copy by value
{
assert(ResourceKeys);
bool newEntry = std::find(ResourceKeys->begin(), ResourceKeys->end(), key) == ResourceKeys->end();
if(newEntry)
ResourceKeys->push_back(key);
return newEntry;
}
UsdBridgePrimCacheManager::ConstPrimCacheIterator UsdBridgePrimCacheManager::FindPrimCache(const UsdBridgeHandle& handle) const
{
ConstPrimCacheIterator it = std::find_if(
UsdPrimCaches.begin(),
UsdPrimCaches.end(),
[handle](const PrimCacheContainer::value_type& cmp) -> bool { return cmp.second.get() == handle.value; }
);
return it;
}
UsdBridgePrimCacheManager::ConstPrimCacheIterator UsdBridgePrimCacheManager::CreatePrimCache(const std::string& name, const std::string& fullPath, ResourceCollectFunc collectFunc)
{
SdfPath nameSuffix(name);
SdfPath primPath(fullPath);
// Create new cache entry
std::unique_ptr<UsdBridgePrimCache> cacheEntry = std::make_unique<UsdBridgePrimCache>(primPath, nameSuffix, collectFunc);
return UsdPrimCaches.emplace(name, std::move(cacheEntry)).first;
}
void UsdBridgePrimCacheManager::AttachTopLevelPrim(UsdBridgePrimCache* primCache)
{
primCache->IncRef();
}
void UsdBridgePrimCacheManager::DetachTopLevelPrim(UsdBridgePrimCache* primCache)
{
primCache->DecRef();
}
void UsdBridgePrimCacheManager::AddChild(UsdBridgePrimCache* parent, UsdBridgePrimCache* child)
{
parent->AddChild(child);
}
void UsdBridgePrimCacheManager::RemoveChild(UsdBridgePrimCache* parent, UsdBridgePrimCache* child)
{
parent->RemoveChild(child);
}
void UsdBridgePrimCacheManager::RemovePrimCache(ConstPrimCacheIterator it, UsdBridgeLogObject& LogObject)
{
if(it->second->RefCount > 0)
{
UsdBridgeLogMacro(LogObject, UsdBridgeLogLevel::WARNING, "Primcache removed for object named: " << it->first << ", but refs still exist");
}
UsdPrimCaches.erase(it);
}
void UsdBridgePrimCacheManager::RemoveUnreferencedPrimCaches(AtRemoveFunc atRemove)
{
// First recursively remove all the child references for unreferenced prims
// Can only be performed at garbage collect.
// If this is done during RemoveChild, an unreferenced parent cannot subsequently be revived with an AddChild.
PrimCacheContainer::iterator it = UsdPrimCaches.begin();
while (it != UsdPrimCaches.end())
{
if (it->second->RefCount == 0)
{
it->second->RemoveUnreferencedChildTree(atRemove);
}
++it;
}
// Now delete all prims without references from the cache
it = UsdPrimCaches.begin();
while (it != UsdPrimCaches.end())
{
if (it->second->RefCount == 0)
it = UsdPrimCaches.erase(it);
else
++it;
}
} | 6,353 | C++ | 29.84466 | 179 | 0.728947 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Mdl/UsdBridgeMdlStrings.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridgeMacros.h"
#ifdef CUSTOM_PBR_MDL
static const char Mdl_PBRBase_string[] = R"matstrdelim(
/*****************************************************************************
* Copyright 1986-2017 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
mdl 1.4;
import df::*;
import state::*;
import math::*;
import base::*;
import tex::*;
import anno::*;
import ::nvidia::core_definitions::file_texture;
import ::nvidia::core_definitions::normalmap_texture;
// -------------------- HELPER FUNCTIONS ----------------------
base::texture_return multiply_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_multiply
)),
base: color_1
);
}
float4 vertex_color_from_coordinate(int VertexColorCoordinateIndex)
[[
anno::description("Vertex Color for float2 PrimVar"),
anno::noinline()
]]
{
// Kit only supports 4 uv sets, 2 uvs are available to vertex color. if vertex color index is invalid, output the constant WHITE color intead
return (VertexColorCoordinateIndex > 2) ? float4(1.0f) : float4(state::texture_coordinate(VertexColorCoordinateIndex).x, state::texture_coordinate(VertexColorCoordinateIndex).y, state::texture_coordinate(VertexColorCoordinateIndex+1).x, state::texture_coordinate(VertexColorCoordinateIndex+1).y);
}
color get_translucent_tint(color base_color, float opacity)
[[
anno::description("base color of Basic translucent"),
anno::noinline()
]]
{
return math::lerp(color(1.0), base_color, opacity);
}
tex::wrap_mode get_wrap_mode(int wrap_constant)
{
tex::wrap_mode result = tex::wrap_clip;
switch(wrap_constant)
{
case 1: result = tex::wrap_clamp; break;
case 2: result = tex::wrap_repeat; break;
case 3: result = tex::wrap_mirrored_repeat; break;
default: break;
}
return result;
}
// -------------------- MATERIAL ----------------------
export material OmniPBR(
color diffuse_color_constant = color(0.2f)
[[
anno::display_name("Base Color"),
anno::description("This is the base color"),
anno::in_group("Albedo")
]],
uniform texture_2d diffuse_texture = texture_2d()
[[
anno::display_name("Albedo Map"),
anno::in_group("Albedo")
]],
float albedo_desaturation = float(0.0)
[[
anno::display_name("Albedo Desaturation"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("Desaturates the diffuse color"),
anno::in_group("Albedo")
]],
float albedo_add = float(0.0)
[[
anno::display_name("Albedo Add"),
anno::soft_range(float(-1.0f), float(1.0f)),
anno::description("Adds a constant value to the diffuse color "),
anno::in_group("Albedo")
]],
float albedo_brightness = float(1.0)
[[
anno::display_name("Albedo Brightness"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("Multiplier for the diffuse color "),
anno::in_group("Albedo")
]],
color diffuse_tint = color(1.0f)
[[
anno::display_name("Color Tint"),
anno::description("When enabled, this color value is multiplied over the final albedo color"),
anno::in_group("Albedo")
]],
// -------------------- REFLECTIVITY/METALLIC ----------------------
float reflection_roughness_constant = 0.5f
[[
anno::display_name("Roughness Amount"),
anno::hard_range(0.0,1.),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::in_group("Reflectivity")
]],
float reflection_roughness_texture_influence = 0.0f
[[
anno::display_name("Roughness Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the roughness texture"),
anno::in_group("Reflectivity")
]],
uniform texture_2d reflection_roughness_texture = texture_2d()
[[
anno::display_name("Roughness Map"),
anno::in_group("Reflectivity")
]],
float metallic_constant = 0.f
[[
anno::display_name("Metallic Amount"),
anno::hard_range(0.0,1.),
anno::description("Metallic Material"),
anno::in_group("Reflectivity")
]],
float metallic_texture_influence = 0.0f
[[
anno::display_name("Metallic Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the metallic texture"),
anno::in_group("Reflectivity")
]],
uniform texture_2d metallic_texture = texture_2d()
[[
anno::display_name("Metallic Map"),
anno::in_group("Reflectivity")
]],
float specular_level = float(0.5)
[[
anno::display_name("Specular"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("The specular level (intensity) of the material"),
anno::in_group("Reflectivity")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_emission = false
[[
anno::display_name("Enable Emission"),
anno::description("Enables the emission of light from the material"),
anno::in_group("Emissive")
]],
color emissive_color = color(1.0, 0.1, 0.1)
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Color"),
anno::description("The emission color"),
anno::in_group("Emissive")
]],
uniform texture_2d emissive_mask_texture = texture_2d()
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Mask map"),
anno::description("The texture masking the emissive color"),
anno::in_group("Emissive")
]],
uniform float emissive_intensity = 40.f
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Intensity"),
anno::description("Intensity of the emission"),
anno::in_group("Emissive")
]],
// Opacity Map
uniform bool enable_opacity_texture = false
[[
anno::display_name("Enable Opacity Texture"),
anno::description("Enables or disbales the usage of the opacity texture map"),
anno::in_group("Opacity")
]],
uniform float opacity_constant = 1.0f
[[
anno::enable_if("enable_opacity_texture == true"),
anno::hard_range(0.0, 1.0),
anno::display_name("Opacity Amount"),
anno::description("Amount of Opacity"),
anno::in_group("Opacity")
]],
uniform texture_2d opacity_texture = texture_2d()
[[
anno::enable_if("enable_opacity_texture==true"),
anno::display_name("Opacity Map"),
anno::in_group("Opacity")
]],
uniform float ior_constant = 1.f
[[
anno::enable_if("opacity_constant < 1.0"),
anno::display_name("Index of Refraction"),
anno::description("Index of Refraction for transparent materials"),
anno::in_group("Opacity")
]],
// -------------------- Normal ----------------------
uniform float bump_factor = 1.f
[[
anno::display_name("Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Normal")
]],
uniform texture_2d normalmap_texture = texture_2d()
[[
anno::display_name("Normal Map"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Normal")
]],
// -------------------- Vertex Colors ----------------------
uniform int vertexcolor_coordinate_index = -1
[[
anno::display_name("Vertex Color Texture Coordinate Index"),
anno::description("Index for texture coordinate with vertex colors"),
anno::in_group("VertexColor")
]],
// -------------------- Wrapping ----------------------
uniform int diffuse_wrapmode_u = 2
[[
anno::display_name("Diffuse Wrapping Mode U"),
anno::description("Wrapping mode along u axis of diffuse_texture, see get_wrap_mode"),
anno::in_group("Texture")
]],
uniform int diffuse_wrapmode_v = 2
[[
anno::display_name("Diffuse Wrapping Mode V"),
anno::description("Wrapping mode along v axis of diffuse_texture, see get_wrap_mode"),
anno::in_group("Texture")
]]
)
[[
anno::display_name("PBR Opacity"),
anno::description("PBR material, supports opacity"),
anno::version( 1, 0, 0),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("PBR", "generic"))
]]
= let{
// -------------------- Texcoord --------------------
int uv_space_index = 0;
base::texture_coordinate_info uvw = base::coordinate_source(
coordinate_system: base::texture_coordinate_uvw,
texture_space: uv_space_index );
base::texture_coordinate_info transformed_uvw = uvw;
// -------------------- Base texture --------------------
base::texture_return base_lookup = base::file_texture(
texture: diffuse_texture,
color_offset: color(albedo_add),
color_scale: color(albedo_brightness),
mono_source: base::mono_luminance,
uvw: transformed_uvw,
wrap_u: get_wrap_mode(diffuse_wrapmode_u),
wrap_v: get_wrap_mode(diffuse_wrapmode_v),
clip: false);
float alpha = tex::texture_isvalid(diffuse_texture) ? base::file_texture(
texture: diffuse_texture,
mono_source: base::mono_alpha,
uvw: transformed_uvw,
wrap_u: get_wrap_mode(diffuse_wrapmode_u),
wrap_v: get_wrap_mode(diffuse_wrapmode_v),
clip: false).mono
: 1.0;
// -------------------- Rougness/Reflection --------------------
base::texture_return roughness_lookup = base::file_texture(
texture: reflection_roughness_texture,
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
);
float roughness_selection = roughness_lookup.mono;
float reflection_roughness_1 = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
// -------------------- Metallic --------------------
base::texture_return metallic_lookup = base::file_texture(
texture: metallic_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
);
// Choose between ORM or metallic map
float metallic_selection = metallic_lookup.mono;
// blend between the constant metallic value and the map lookup
float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
// -------------------- Emissive --------------------
color emissive_mask = tex::texture_isvalid(emissive_mask_texture) ?
base::file_texture(
texture: emissive_mask_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false).tint
: color(1.0);
// -------------------- Normal --------------------
float3 the_normal = tex::texture_isvalid(normalmap_texture) ?
base::tangent_space_normal_texture(
texture: normalmap_texture,
factor: bump_factor,
uvw: transformed_uvw
//flip_tangent_u: false,
//flip_tangent_v: true
) : state::normal() ;
float3 final_normal = the_normal;
// -------------------- Opacity --------------------
float final_opacity = enable_opacity_texture ?
base::file_texture(
texture: opacity_texture,
mono_source: base::mono_average,
uvw: transformed_uvw ).mono
: (opacity_constant > 0 ? opacity_constant*alpha : alpha);
// -------------------- Establish base color --------------------
float4 vcData = vertex_color_from_coordinate(vertexcolor_coordinate_index);
color diffuse_color = tex::texture_isvalid(diffuse_texture) ? desaturated_base :
((vertexcolor_coordinate_index >= 0 && vertexcolor_coordinate_index < state::texture_space_max()) ? color(vcData.x, vcData.y, vcData.z) : diffuse_color_constant);
color tinted_diffuse_color = multiply_colors(diffuse_color, diffuse_tint, 1.0).tint;
color final_base_color = tinted_diffuse_color;
// -------------------- Construct bsdf --------------------
float reflection_roughness_sq = reflection_roughness_1*reflection_roughness_1;
)matstrdelim";
static const char Mdl_PBRBase_string_opaque[] = R"matstrdelim(
bsdf diffuse_bsdf = df::diffuse_reflection_bsdf(
tint: final_base_color,
roughness: 0.f );
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: reflection_roughness_sq,
roughness_v: reflection_roughness_sq,
tint: color(1.0, 1.0, 1.0),
mode: df::scatter_reflect );
bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
normal_reflectivity: 0.08,
grazing_reflectivity: 1.0,
exponent: 5.0,
weight: specular_level,
layer: ggx_smith_bsdf,
base: diffuse_bsdf );
bsdf directional_factor_bsdf = df::directional_factor(
normal_tint: final_base_color,
grazing_tint: final_base_color,
exponent: 3.0f,
base: ggx_smith_bsdf );
bsdf final_bsdf = df::weighted_layer(
weight: metallic,
layer: directional_factor_bsdf,
base: custom_curve_layer_bsdf );
} in material(
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
geometry: material_geometry(
normal: final_normal,
cutout_opacity: final_opacity
)
);
)matstrdelim";
static const char Mdl_PBRBase_string_translucent[] = R"matstrdelim(
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: reflection_roughness_sq,
roughness_v: reflection_roughness_sq,
tint: get_translucent_tint(base_color: final_base_color, opacity: final_opacity),
mode: df::scatter_reflect_transmit
);
bsdf directional_factor_bsdf = df::directional_factor(
normal_tint: final_base_color,
grazing_tint: final_base_color,
exponent: 3.0f,
base: ggx_smith_bsdf );
bsdf final_bsdf = df::weighted_layer(
weight: metallic,
layer: directional_factor_bsdf,
base: ggx_smith_bsdf );
} in material(
thin_walled: true,
ior: color(ior_constant),
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
geometry: material_geometry(
normal: final_normal,
cutout_opacity: 1.0
)
);
)matstrdelim";
#endif
| 16,262 | C | 32.462963 | 297 | 0.604846 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Volume/UsdBridgeVolumeWriter.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeVolumeWriter_h
#define UsdBridgeVolumeWriter_h
#include "UsdBridgeData.h"
#ifdef _WIN32
#define USDDevice_DECL __cdecl
#ifdef UsdBridge_Volume_EXPORTS
#define USDDevice_INTERFACE __declspec(dllexport)
#else
#define USDDevice_INTERFACE __declspec(dllimport)
#endif
#else
#define USDDevice_DECL
#define USDDevice_INTERFACE
#endif
class UsdBridgeVolumeWriterI
{
public:
virtual bool Initialize(const UsdBridgeLogObject& logObj) = 0;
virtual void ToVDB(const UsdBridgeVolumeData& volumeData) = 0;
virtual void GetSerializedVolumeData(const char*& data, size_t& size) = 0;
virtual void SetConvertDoubleToFloat(bool convert) = 0;
virtual void Release() = 0; // Accommodate change of CRT
};
extern "C" USDDevice_INTERFACE UsdBridgeVolumeWriterI* USDDevice_DECL Create_VolumeWriter();
#endif | 908 | C | 22.921052 | 92 | 0.770925 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Volume/UsdBridgeVolumeWriter.cpp | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridgeVolumeWriter.h"
#include <memory>
class UsdBridgeVolumeWriterInternals;
class UsdBridgeVolumeWriter : public UsdBridgeVolumeWriterI
{
public:
UsdBridgeVolumeWriter();
~UsdBridgeVolumeWriter();
bool Initialize(const UsdBridgeLogObject& logObj) override;
void ToVDB(const UsdBridgeVolumeData& volumeData) override;
void GetSerializedVolumeData(const char*& data, size_t& size) override;
void SetConvertDoubleToFloat(bool convert) override { ConvertDoubleToFloat = convert; }
void Release() override;
UsdBridgeLogObject LogObject;
protected:
bool ConvertDoubleToFloat = true;
#ifdef USE_OPENVDB
std::unique_ptr<UsdBridgeVolumeWriterInternals> Internals;
#endif
};
extern "C" UsdBridgeVolumeWriterI* USDDevice_DECL Create_VolumeWriter()
{
return new UsdBridgeVolumeWriter();
}
void UsdBridgeVolumeWriter::Release()
{
delete this;
}
#ifdef USE_OPENVDB
#include "openvdb/openvdb.h"
#include "openvdb/io/Stream.h"
#include "openvdb/tools/Dense.h"
#include "openvdb/tools/GridTransformer.h"
#include "openvdb/tree/ValueAccessor.h"
#include <assert.h>
#include <limits>
#include <sstream>
#include "UsdBridgeUtils.h"
#ifdef USDBRIDGE_VOL_FLOAT1_OUTPUT
using ColorGridOutType = openvdb::FloatGrid;
#else
using ColorGridOutType = openvdb::Vec3fGrid;
#endif
using OpacityGridOutType = openvdb::FloatGrid;
class UsdBridgeVolumeWriterInternals
{
public:
UsdBridgeVolumeWriterInternals()
//: GridStream(std::ios::in | std::ios::out)
{}
~UsdBridgeVolumeWriterInternals()
{}
std::ostream& ResetStream()
{
//GridStream.clear(); // Bug in OpenVDB prevents reuse of stream
delete GridStream;
GridStream = new std::stringstream(std::ios::in | std::ios::out);
return *GridStream;
}
const char* GetStreamData()
{
if(!GridStream)
return nullptr;
StreamData = GridStream->str();
return StreamData.c_str();
}
size_t GetStreamDataSize()
{
return StreamData.length();
}
protected:
std::stringstream* GridStream = nullptr;
std::string StreamData;
};
struct TfTransformInput
{
ColorGridOutType::Ptr colorGrid;
OpacityGridOutType::Ptr opacityGrid;
const UsdBridgeVolumeData& volumeData;
const openvdb::CoordBBox& bBox;
};
template<typename DataType, typename OpType, typename TransformerType>
struct TfTransform
{
public:
TfTransform(const UsdBridgeVolumeData& volumeData, const openvdb::CoordBBox& bBox, const TransformerType& transformer)
: Transformer(transformer)
, VolData(static_cast<const DataType*>(volumeData.Data))
, Dims(bBox.max() + openvdb::math::Coord(1, 1, 1)) //Bbox is inclusive, dims are exclusive
, InvValueRangeMag(OpType(1.0) / (OpType)(volumeData.TfData.TfValueRange[1] - volumeData.TfData.TfValueRange[0]))
, ValueRangeMin((OpType)(volumeData.TfData.TfValueRange[0]))
{
}
inline void operator()(const typename TransformerType::Iter& iter) const
{
openvdb::math::Coord coord = iter.getCoord();
assert(coord.x() >= 0 && coord.x() < Dims.x() &&
coord.y() >= 0 && coord.y() < Dims.y() &&
coord.z() >= 0 && coord.z() < Dims.z());
size_t linearIndex = Dims.y() * Dims.x() * coord.z() + Dims.x() * coord.y() + coord.x();
const DataType* curVal = VolData + linearIndex;
OpType ucVal = (((OpType)(*curVal)) - this->ValueRangeMin) * this->InvValueRangeMag;
float normValue = (float)((ucVal < (OpType)0.0) ? (OpType)0.0 : ((ucVal > (OpType)1.0) ? (OpType)1.0 : ucVal));
Transformer.Transform(normValue, iter);
}
/*
inline void operator()(
const openvdb::FloatGrid::ValueOnCIter& iter,
openvdb::tree::ValueAccessor<TreeOutType>& accessor)
{
openvdb::Vec4f transformedColor;
transformColor(*iter, transformedColor);
if (iter.isVoxelValue())
{ // set a single voxel
accessor.setValue(iter.getCoord(), transformedColor);
}
else
{ // fill an entire tile
openvdb::CoordBBox bbox;
iter.getBoundingBox(bbox);
accessor.getTree()->fill(bbox, transformedColor);
}
}
*/
const TransformerType& Transformer;
const DataType* VolData;
openvdb::math::Coord Dims;
OpType InvValueRangeMag;
OpType ValueRangeMin;
};
struct TfColorTransformer
{
public:
typedef ColorGridOutType::ValueOnIter Iter;
TfColorTransformer(const UsdBridgeTfData& tfData)
: TfColors(static_cast<const float*>(tfData.TfColors))
, NumTfColors(tfData.TfNumColors)
{
}
inline void Transform(float normValue, const Iter& iter) const
{
openvdb::Vec3f transformedColor;
float colorIndexF = normValue * (this->NumTfColors - 1);
float floorColor;
float fracColor = std::modf(colorIndexF, &floorColor);
int colIdx0 = int(floorColor);
int colIdx1 = colIdx0 + (colIdx0 != (this->NumTfColors - 1));
const float* color0 = this->TfColors + 3 * colIdx0;
const float* color1 = this->TfColors + 3 * colIdx1;
float OneMinFracColor = 1.0f - fracColor;
transformedColor[0] = fracColor * color1[0] + OneMinFracColor * color0[0];
transformedColor[1] = fracColor * color1[1] + OneMinFracColor * color0[1];
transformedColor[2] = fracColor * color1[2] + OneMinFracColor * color0[2];
#ifdef FLOAT1_OUTPUT
iter.setValue(transformedColor.length());
#else
iter.setValue(transformedColor);
#endif
}
const float* TfColors;
int NumTfColors;
};
struct TfOpacityTransformer
{
public:
typedef OpacityGridOutType::ValueOnIter Iter;
TfOpacityTransformer(const UsdBridgeTfData& tfData)
: TfOpacities(static_cast<const float*>(tfData.TfOpacities))
, NumTfOpacities(tfData.TfNumOpacities)
{
}
inline void Transform(float normValue, const Iter& iter) const
{
float opacityIndexF = normValue * (this->NumTfOpacities - 1);
float floorOpacity;
float fracOpacity = std::modf(opacityIndexF, &floorOpacity);
int opacityIdx0 = int(floorOpacity);
int opacityIdx1 = opacityIdx0 + (opacityIdx0 != (this->NumTfOpacities - 1));
float finalOpacity = fracOpacity * this->TfOpacities[opacityIdx1] +
(1.0f - fracOpacity) * this->TfOpacities[opacityIdx0];
iter.setValue(finalOpacity);
}
const float* TfOpacities;
int NumTfOpacities;
};
template<typename DataType, typename OpType>
void TfTransformCall(TfTransformInput& tfTransformInput)
{
TfColorTransformer colorTransformer(tfTransformInput.volumeData.TfData);
TfTransform<DataType, OpType, TfColorTransformer> tfColorTransform(tfTransformInput.volumeData, tfTransformInput.bBox, colorTransformer);
openvdb::tools::foreach(tfTransformInput.colorGrid->beginValueOn(), tfColorTransform);
TfOpacityTransformer opacityTransformer(tfTransformInput.volumeData.TfData);
TfTransform<DataType, OpType, TfOpacityTransformer> tfOpacityTransform(tfTransformInput.volumeData, tfTransformInput.bBox, opacityTransformer);
openvdb::tools::foreach(tfTransformInput.opacityGrid->beginValueOn(), tfOpacityTransform);
}
static void SelectTfTransform(const UsdBridgeLogObject& logObj, TfTransformInput& tfTransformInput)
{
// Transform the float data to color data
switch (tfTransformInput.volumeData.DataType)
{
case UsdBridgeType::CHAR:
TfTransformCall<char, float>(tfTransformInput);
break;
case UsdBridgeType::UCHAR:
TfTransformCall<unsigned char, float>(tfTransformInput);
break;
case UsdBridgeType::SHORT:
TfTransformCall<short, float>(tfTransformInput);
break;
case UsdBridgeType::USHORT:
TfTransformCall<unsigned short, float>(tfTransformInput);
break;
case UsdBridgeType::INT:
TfTransformCall<int, double>(tfTransformInput);
break;
case UsdBridgeType::UINT:
TfTransformCall<unsigned int, double>(tfTransformInput);
break;
case UsdBridgeType::LONG:
TfTransformCall<long long, double>(tfTransformInput);
break;
case UsdBridgeType::ULONG:
TfTransformCall<unsigned long long, double>(tfTransformInput);
break;
case UsdBridgeType::FLOAT:
TfTransformCall<float, float>(tfTransformInput);
break;
case UsdBridgeType::DOUBLE:
TfTransformCall<double, double>(tfTransformInput);
break;
default:
{
const char* typeStr = ubutils::UsdBridgeTypeToString(tfTransformInput.volumeData.DataType);
UsdBridgeLogMacro(logObj, UsdBridgeLogLevel::ERR, "Volume writer preclassified copy does not support source data type: " << typeStr);
break;
}
}
//openvdb::tools::transformValues(valArray->cbeginValueOn(), *colorGrid, transformOp);
}
struct CopyToGridInput
{
const UsdBridgeVolumeData& volumeData;
const openvdb::CoordBBox& bBox;
};
struct DoublePH // placeholder for double type to implicitly convert to float without warnings
{
public:
DoublePH(double val) : v(val) {}
~DoublePH() {}
operator float() const { return static_cast<float>(v); }
protected:
double v;
};
template<typename InDataType, typename OutGridType>
struct GridConvert
{
GridConvert(const UsdBridgeVolumeData& volumeData, const openvdb::CoordBBox& bBox, bool normalize = true)
: VolData(static_cast<const InDataType*>(volumeData.Data))
, Dims(bBox.max() + openvdb::math::Coord(1, 1, 1)) //Bbox is inclusive, dims are exclusive
, BackgroundIdx(volumeData.BackgroundIdx)
{
}
inline void operator()(const typename OutGridType::ValueOnIter& iter) const
{
openvdb::math::Coord coord = iter.getCoord();
assert(coord.x() >= 0 && coord.x() < Dims.x() &&
coord.y() >= 0 && coord.y() < Dims.y() &&
coord.z() >= 0 && coord.z() < Dims.z());
size_t linearIndex = Dims.y() * Dims.x() * coord.z() + Dims.x() * coord.y() + coord.x();
const InDataType* curVal = VolData + linearIndex;
typename OutGridType::ValueType outVal(*curVal);
iter.setValue(outVal);
}
typename OutGridType::ValueType BackgroundValue()
{
if(BackgroundIdx == -1)
{
return typename OutGridType::ValueType(0);
}
const InDataType* backVal = VolData + BackgroundIdx;
typename OutGridType::ValueType outVal(*backVal);
return outVal;
}
const InDataType* VolData;
openvdb::math::Coord Dims;
long long BackgroundIdx;
};
template<typename DataType>
struct NormalizedToGridConvert
{
NormalizedToGridConvert(const UsdBridgeVolumeData& volumeData, const openvdb::CoordBBox& bBox)
: VolData(static_cast<const DataType*>(volumeData.Data))
, Dims(bBox.max() + openvdb::math::Coord(1, 1, 1)) //Bbox is inclusive, dims are exclusive
, MaxValue(static_cast<float>(std::numeric_limits<DataType>::max()))
, MinValue(static_cast<float>(std::numeric_limits<DataType>::min()))
, BackgroundIdx(volumeData.BackgroundIdx)
{
InvRange = 1.0f / (MaxValue - MinValue);
}
inline void operator()(const openvdb::FloatGrid::ValueOnIter& iter) const
{
openvdb::math::Coord coord = iter.getCoord();
assert(coord.x() >= 0 && coord.x() < Dims.x() &&
coord.y() >= 0 && coord.y() < Dims.y() &&
coord.z() >= 0 && coord.z() < Dims.z());
size_t linearIndex = Dims.y() * Dims.x() * coord.z() + Dims.x() * coord.y() + coord.x();
const DataType* curVal = VolData + linearIndex;
iter.setValue(((static_cast<float>(*curVal)) - MinValue) * InvRange);
}
float BackgroundValue()
{
return (BackgroundIdx == -1) ? 0.0f :
(static_cast<float>(*(VolData + BackgroundIdx)) - MinValue) * InvRange;
}
const DataType* VolData;
openvdb::math::Coord Dims;
float MaxValue;
float MinValue;
float InvRange;
long long BackgroundIdx;
};
template<typename InDataType, typename OutGridType>
openvdb::GridBase::Ptr ConvertAndCopyToGridTemplate(const CopyToGridInput& copyInput)
{
GridConvert<InDataType, OutGridType> gridConverter(copyInput.volumeData, copyInput.bBox);
typename OutGridType::Ptr outGrid = OutGridType::create(gridConverter.BackgroundValue());
typename OutGridType::ValueType defaultValue(0);
outGrid->denseFill(copyInput.bBox, defaultValue, true);
openvdb::tools::foreach(outGrid->beginValueOn(), gridConverter);
return outGrid;
}
template<typename DataType>
openvdb::GridBase::Ptr NormalizedCopyToGridTemplate(const CopyToGridInput& copyInput)
{
NormalizedToGridConvert<DataType> gridConverter(copyInput.volumeData, copyInput.bBox);
openvdb::FloatGrid::Ptr floatGrid = openvdb::FloatGrid::create(gridConverter.BackgroundValue());
floatGrid->denseFill(copyInput.bBox, 0.0f, true);
openvdb::tools::foreach(floatGrid->beginValueOn(), gridConverter);
return floatGrid;
}
template<typename DataType, typename GridType>
openvdb::GridBase::Ptr CopyToGridTemplate(const CopyToGridInput& copyInput)
{
const DataType* typedData = static_cast<const DataType*>(copyInput.volumeData.Data);
long long backgroundIdx = copyInput.volumeData.BackgroundIdx;
typename GridType::ValueType backGroundValue( (backgroundIdx == -1) ?
static_cast<DataType>(0) : *(typedData + backgroundIdx)
);
typename GridType::Ptr scalarGrid = GridType::create(backGroundValue);
openvdb::tools::Dense<const DataType, openvdb::tools::LayoutXYZ> valArray(copyInput.bBox, typedData);
openvdb::tools::copyFromDense(valArray, *scalarGrid, (DataType)0); // No tolerance set to clamp values to background value for sparsity.
return scalarGrid;
}
static openvdb::GridBase::Ptr CopyToGrid(const UsdBridgeLogObject& logObj, const CopyToGridInput& copyInput, bool convertDoubleToFloat)
{
openvdb::GridBase::Ptr scalarGrid;
// Transform the float data to color data
switch (copyInput.volumeData.DataType)
{
case UsdBridgeType::CHAR:
scalarGrid = NormalizedCopyToGridTemplate<char>(copyInput);
break;
case UsdBridgeType::UCHAR:
scalarGrid = NormalizedCopyToGridTemplate<unsigned char>(copyInput);
break;
case UsdBridgeType::SHORT:
scalarGrid = NormalizedCopyToGridTemplate<short>(copyInput);
break;
case UsdBridgeType::USHORT:
scalarGrid = NormalizedCopyToGridTemplate<unsigned short>(copyInput);
break;
case UsdBridgeType::INT:
scalarGrid = CopyToGridTemplate<int, openvdb::Int32Grid>(copyInput);
break;
case UsdBridgeType::UINT:
scalarGrid = CopyToGridTemplate<unsigned int, openvdb::Int32Grid>(copyInput);
break;
case UsdBridgeType::LONG:
scalarGrid = CopyToGridTemplate<long long, openvdb::Int64Grid>(copyInput);
break;
case UsdBridgeType::ULONG:
scalarGrid = CopyToGridTemplate<unsigned long long, openvdb::Int64Grid>(copyInput);
break;
case UsdBridgeType::FLOAT:
scalarGrid = CopyToGridTemplate<float, openvdb::FloatGrid>(copyInput);
break;
case UsdBridgeType::DOUBLE:
if(convertDoubleToFloat)
scalarGrid = ConvertAndCopyToGridTemplate<DoublePH, openvdb::FloatGrid>(copyInput);
else
scalarGrid = CopyToGridTemplate<double, openvdb::DoubleGrid>(copyInput);
break;
case UsdBridgeType::FLOAT3:
scalarGrid = CopyToGridTemplate<openvdb::Vec3f, openvdb::Vec3fGrid>(copyInput);
break;
case UsdBridgeType::DOUBLE3:
if(convertDoubleToFloat)
scalarGrid = ConvertAndCopyToGridTemplate<openvdb::Vec3d, openvdb::Vec3fGrid>(copyInput);
else
scalarGrid = CopyToGridTemplate<openvdb::Vec3d, openvdb::Vec3dGrid>(copyInput);
break;
default:
{
const char* typeStr = ubutils::UsdBridgeTypeToString(copyInput.volumeData.DataType);
UsdBridgeLogMacro(logObj, UsdBridgeLogLevel::ERR, "Volume writer source data copy does not support source data type: " << typeStr);
}
break;
}
return scalarGrid;
}
static void CreateGridAndAdd(const UsdBridgeLogObject& logObj, const UsdBridgeVolumeData& volumeData, const openvdb::CoordBBox& bBox, const char* gridName,
openvdb::math::Transform::Ptr linTrans, bool convertDoubleToFloat, openvdb::GridPtrVecPtr grids)
{
CopyToGridInput copyToGridInput = { volumeData, bBox };
openvdb::GridBase::Ptr outGrid = CopyToGrid(logObj, copyToGridInput, convertDoubleToFloat);
if (outGrid)
{
outGrid->setName(gridName);
outGrid->setTransform(linTrans);
// Push density grid into grid container
grids->push_back(outGrid);
}
}
UsdBridgeVolumeWriter::UsdBridgeVolumeWriter()
: Internals(std::make_unique<UsdBridgeVolumeWriterInternals>())
{
}
UsdBridgeVolumeWriter::~UsdBridgeVolumeWriter()
{
}
bool UsdBridgeVolumeWriter::Initialize(const UsdBridgeLogObject& logObj)
{
openvdb::initialize();
this->LogObject = logObj;
return true;
}
void UsdBridgeVolumeWriter::ToVDB(const UsdBridgeVolumeData& volumeData)
{
const char* densityGridName = "density";
const char* colorGridName = "diffuse";
// Keep the grid/tree transform at identity, and set coord bounding box to element dimensions.
// This will correspond to a worldspace size of element dimensions too, with rest of scaling handled outside of openvdb.
const size_t* coordDims = volumeData.NumElements;
size_t maxInt = std::numeric_limits<int>::max();
assert(coordDims[0] <= maxInt && coordDims[1] <= maxInt && coordDims[2] <= maxInt);
// Wrap data in a Dense and copy to color grid
openvdb::CoordBBox bBox(0, 0, 0, int(coordDims[0] - 1), int(coordDims[1] - 1), int(coordDims[2] - 1)); //Fill is inclusive
// Compose volume transformation
openvdb::math::Transform::Ptr linTrans = openvdb::math::Transform::createLinearTransform();
linTrans->preScale(openvdb::Vec3f(volumeData.CellDimensions));
linTrans->postTranslate(openvdb::Vec3f(volumeData.Origin));
// Prepare output grids
openvdb::GridPtrVecPtr grids(new openvdb::GridPtrVec);
if(volumeData.preClassified)
{
OpacityGridOutType::Ptr opacityGrid = OpacityGridOutType::create();
ColorGridOutType::Ptr colorGrid = ColorGridOutType::create();
opacityGrid->denseFill(bBox, 0.0f, true);
colorGrid->denseFill(bBox,
#ifdef FLOAT1_OUTPUT
0.0f,
#else
openvdb::Vec3f(0, 0, 0),
#endif
true);
// Transform the volumedata and output into color grid
TfTransformInput tfTransformInput = { colorGrid, opacityGrid, volumeData, bBox };
SelectTfTransform(this->LogObject, tfTransformInput);
// Set grid names
opacityGrid->setName(densityGridName);
colorGrid->setName(colorGridName);
// Set grid transformation
opacityGrid->setTransform(linTrans);
colorGrid->setTransform(linTrans);
// Push color and opacity grid into grid container
grids->push_back(opacityGrid);
grids->push_back(colorGrid);
}
else
{
CreateGridAndAdd(this->LogObject, volumeData, bBox, densityGridName, linTrans, ConvertDoubleToFloat, grids);
}
// Must write all grids at once
openvdb::io::Stream(Internals->ResetStream()).write(*grids);
}
void UsdBridgeVolumeWriter::GetSerializedVolumeData(const char*& data, size_t& size)
{
data = Internals->GetStreamData();
size = Internals->GetStreamDataSize();
}
#else //USE_OPENVDB
UsdBridgeVolumeWriter::UsdBridgeVolumeWriter()
{
}
UsdBridgeVolumeWriter::~UsdBridgeVolumeWriter()
{
}
bool UsdBridgeVolumeWriter::Initialize(const UsdBridgeLogObject& logObj)
{
return true;
}
void UsdBridgeVolumeWriter::ToVDB(const UsdBridgeVolumeData & volumeData)
{
}
void UsdBridgeVolumeWriter::GetSerializedVolumeData(const char*& data, size_t& size)
{
data = nullptr;
size = 0;
}
#endif //USE_OPENVDB
| 19,286 | C++ | 29.614286 | 155 | 0.722597 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeNumerics.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeNumerics_h
#define UsdBridgeNumerics_h
#include "UsdBridgeMacros.h"
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#include <math.h>
struct UsdUint2
{
using DataType = unsigned int;
DataType Data[2] = { 0, 0 };
};
struct UsdFloat2
{
using DataType = float;
DataType Data[2] = { 1.0, 1.0 };
};
struct UsdFloat3
{
using DataType = float;
DataType Data[3] = { 1.0, 1.0, 1.0 };
};
struct UsdFloat4
{
using DataType = float;
DataType Data[4] = { 1.0, 1.0, 1.0, 1.0 };
};
struct UsdFloatMat4
{
using DataType = float;
DataType Data[16] = {
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1 };
};
struct UsdQuaternion
{
using DataType = float;
DataType Data[4] = {1.0, 0.0, 0.0, 0.0};
};
struct UsdFloatBox1
{
using DataType = float;
DataType Data[2] = { 0.0f, 1.0f };
};
struct UsdFloatBox2
{
using DataType = float;
DataType Data[4] = { 0.0f, 0.0f, 1.0f, 1.0f };
};
namespace usdbridgenumerics
{
template<typename T>
bool isIdentity(const T& val)
{
static T identity;
return !memcmp(val.Data, identity.Data, sizeof(T));
}
inline void DirectionToQuaternionZ(float* dir, float dirLength, float* quat)
{
// Use Z axis of glyph to orient along.
// (dot(|segDir|, zAxis), cross(|segDir|, zAxis)) gives (cos(th), axis*sin(th)),
// but rotation is represented by cos(th/2), axis*sin(th/2), ie. half the amount of rotation.
// So calculate (dot(|halfVec|, zAxis), cross(|halfVec|, zAxis)) instead.
float invDirLength = 1.0f / dirLength;
float halfVec[3] = {
dir[0] * invDirLength,
dir[1] * invDirLength,
dir[2] * invDirLength + 1.0f
};
float halfNorm = sqrtf(halfVec[0] * halfVec[0] + halfVec[1] * halfVec[1] + halfVec[2] * halfVec[2]);
if (halfNorm != 0.0f)
{
float invHalfNorm = 1.0f / halfNorm;
halfVec[0] *= invHalfNorm;
halfVec[1] *= invHalfNorm;
halfVec[2] *= invHalfNorm;
}
// Cross zAxis (0,0,1) with segment direction (new Z axis) to get rotation axis * sin(angle)
float sinAxis[3] = { -halfVec[1], halfVec[0], 0.0f };
// Dot for cos(angle)
float cosAngle = halfVec[2];
if (halfNorm == 0.0f) // In this case there is a 180 degree rotation
{
sinAxis[1] = 1.0f; //sinAxis*sin(pi/2) = (0,1,0)*sin(pi/2) = (0,1,0)
// cosAngle = cos(pi/2) = 0.0f;
}
quat[0] = cosAngle;
quat[1] = sinAxis[0];
quat[2] = sinAxis[1];
quat[3] = sinAxis[2];
}
}
#endif
| 2,578 | C | 20.855932 | 104 | 0.603957 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeUtils_Internal.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeUtils_Internal_h
#define UsdBridgeUtils_Internal_h
#include "UsdBridgeData.h"
#include <cstring>
namespace
{
inline bool strEquals(const char* arg0, const char* arg1)
{
return strcmp(arg0, arg1) == 0;
}
}
#endif | 318 | C | 15.789473 | 59 | 0.72327 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeMacros.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#pragma once
#define USE_USD_GEOM_POINTS
#define OMNIVERSE_CREATE_WORKAROUNDS
//#define CUSTOM_PBR_MDL
#define USE_INDEX_MATERIALS
//#define REPLACE_SCENE_BY_EXTERNAL_STAGE
// To enable output that usdview can digest (just a single float)
//#define USDBRIDGE_VOL_FLOAT1_OUTPUT
#if defined(TIME_CLIP_STAGES) && !defined(VALUE_CLIP_RETIMING)
#define VALUE_CLIP_RETIMING
#endif
#if defined(VALUE_CLIP_RETIMING) && !defined(TIME_BASED_CACHING)
#define TIME_BASED_CACHING
#endif | 554 | C | 24.227272 | 65 | 0.768953 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeData.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeData_h
#define UsdBridgeData_h
#include "UsdBridgeMacros.h"
#include "UsdBridgeNumerics.h"
#include <cstddef>
#include <functional>
#include <stdint.h>
class UsdBridge;
struct UsdBridgePrimCache;
struct UsdBridgeHandle
{
UsdBridgePrimCache* value = nullptr;
};
struct UsdWorldHandle : public UsdBridgeHandle {};
struct UsdInstanceHandle : public UsdBridgeHandle {};
struct UsdGroupHandle : public UsdBridgeHandle {};
struct UsdSurfaceHandle : public UsdBridgeHandle {};
struct UsdGeometryHandle : public UsdBridgeHandle {};
struct UsdVolumeHandle : public UsdBridgeHandle {};
struct UsdSpatialFieldHandle : public UsdBridgeHandle {};
struct UsdSamplerHandle : public UsdBridgeHandle {};
struct UsdShaderHandle : public UsdBridgeHandle {};
struct UsdMaterialHandle : public UsdBridgeHandle {};
struct UsdLightHandle : public UsdBridgeHandle {};
struct UsdCameraHandle : public UsdBridgeHandle {};
enum class UsdBridgeType
{
BOOL = 0,
UCHAR,
UCHAR_SRGB_R,
CHAR,
USHORT,
SHORT,
UINT,
INT,
ULONG,
LONG,
HALF,
FLOAT,
DOUBLE,
UCHAR2,
UCHAR_SRGB_RA,
CHAR2,
USHORT2,
SHORT2,
UINT2,
INT2,
ULONG2,
LONG2,
HALF2,
FLOAT2,
DOUBLE2,
UCHAR3,
UCHAR_SRGB_RGB,
CHAR3,
USHORT3,
SHORT3,
UINT3,
INT3,
ULONG3,
LONG3,
HALF3,
FLOAT3,
DOUBLE3,
UCHAR4,
UCHAR_SRGB_RGBA,
CHAR4,
USHORT4,
SHORT4,
UINT4,
INT4,
ULONG4,
LONG4,
HALF4,
FLOAT4,
DOUBLE4,
INT_PAIR,
INT_PAIR2,
INT_PAIR3,
INT_PAIR4,
FLOAT_PAIR,
FLOAT_PAIR2,
FLOAT_PAIR3,
FLOAT_PAIR4,
DOUBLE_PAIR,
DOUBLE_PAIR2,
DOUBLE_PAIR3,
DOUBLE_PAIR4,
ULONG_PAIR,
ULONG_PAIR2,
ULONG_PAIR3,
ULONG_PAIR4,
FLOAT_MAT2,
FLOAT_MAT3,
FLOAT_MAT4,
FLOAT_MAT2x3,
FLOAT_MAT3x4,
UNDEFINED
};
constexpr int UsdBridgeNumFundamentalTypes = (int)UsdBridgeType::UCHAR2; // Multi-component groups sizes up until 4 should be equal
inline int UsdBridgeTypeNumComponents(UsdBridgeType dataType)
{
int typeIdent = (int)dataType;
if(typeIdent <= (int)UsdBridgeType::DOUBLE4)
return typeIdent / UsdBridgeNumFundamentalTypes;
switch(dataType)
{
case UsdBridgeType::INT_PAIR: return 2;
case UsdBridgeType::INT_PAIR2: return 4;
case UsdBridgeType::INT_PAIR3: return 6;
case UsdBridgeType::INT_PAIR4: return 8;
case UsdBridgeType::FLOAT_PAIR: return 2;
case UsdBridgeType::FLOAT_PAIR2: return 4;
case UsdBridgeType::FLOAT_PAIR3: return 6;
case UsdBridgeType::FLOAT_PAIR4: return 8;
case UsdBridgeType::DOUBLE_PAIR: return 2;
case UsdBridgeType::DOUBLE_PAIR2: return 4;
case UsdBridgeType::DOUBLE_PAIR3: return 6;
case UsdBridgeType::DOUBLE_PAIR4: return 8;
case UsdBridgeType::ULONG_PAIR: return 2;
case UsdBridgeType::ULONG_PAIR2: return 4;
case UsdBridgeType::ULONG_PAIR3: return 6;
case UsdBridgeType::ULONG_PAIR4: return 8;
case UsdBridgeType::FLOAT_MAT2: return 4;
case UsdBridgeType::FLOAT_MAT3: return 9;
case UsdBridgeType::FLOAT_MAT4: return 16;
case UsdBridgeType::FLOAT_MAT2x3: return 6;
case UsdBridgeType::FLOAT_MAT3x4: return 12;
default: return 1;
}
return 1;
}
enum class UsdBridgeGeomType
{
MESH = 0,
INSTANCER,
CURVE,
VOLUME,
NUM_GEOMTYPES
};
enum class UsdBridgeVolumeFieldType
{
DENSITY,
COLOR
};
enum class UsdBridgeLogLevel
{
STATUS,
WARNING,
ERR
};
typedef void(*UsdBridgeLogCallback)(UsdBridgeLogLevel, void*, const char*);
struct UsdBridgeLogObject
{
void* LogUserData;
UsdBridgeLogCallback LogCallback;
};
struct UsdBridgeSettings
{
const char* HostName; // Name of the remote server
const char* OutputPath; // Directory for output (on server if HostName is not empty)
bool CreateNewSession; // Find a new session directory on creation of the bridge, or re-use the last opened one (leave contents intact).
bool BinaryOutput; // Select usda or usd output.
// Output settings
bool EnablePreviewSurfaceShader;
bool EnableMdlShader;
// About to be deprecated
static constexpr bool EnableStTexCoords = false;
};
// Generic attribute definition
struct UsdBridgeAttribute
{
const void* Data = nullptr;
UsdBridgeType DataType = UsdBridgeType::UNDEFINED;
bool PerPrimData = false;
uint32_t EltSize = 0;
const char* Name = nullptr;
};
struct UsdBridgeMeshData
{
static const UsdBridgeGeomType GeomType = UsdBridgeGeomType::MESH;
//Class definitions
enum class DataMemberId : uint32_t
{
NONE = 0,
POINTS = (1 << 0), // Goes together with extent
NORMALS = (1 << 1),
COLORS = (1 << 2),
INDICES = (1 << 3),
ATTRIBUTE0 = (1 << 4),
ATTRIBUTE1 = (1 << 5),
ATTRIBUTE2 = (1 << 6),
ATTRIBUTE3 = (1 << 7),
ALL = (1 << 8) - 1
};
DataMemberId UpdatesToPerform = DataMemberId::ALL;
DataMemberId TimeVarying = DataMemberId::ALL;
bool isEmpty() { return Points == NULL; }
//Mesh data
uint64_t NumPoints = 0;
const void* Points = nullptr;
UsdBridgeType PointsType = UsdBridgeType::UNDEFINED;
const void* Normals = nullptr;
UsdBridgeType NormalsType = UsdBridgeType::UNDEFINED;
bool PerPrimNormals = false;
const void* Colors = nullptr;
UsdBridgeType ColorsType = UsdBridgeType::UNDEFINED;
bool PerPrimColors = false;
const UsdBridgeAttribute* Attributes = nullptr; // Pointer to externally managed attribute array
uint32_t NumAttributes = 0;
const void* Indices = nullptr;
UsdBridgeType IndicesType = UsdBridgeType::UNDEFINED;
uint64_t NumIndices = 0;
int FaceVertexCount = 0;
};
struct UsdBridgeInstancerData
{
static const UsdBridgeGeomType GeomType = UsdBridgeGeomType::INSTANCER;
//Class definitions
enum class DataMemberId : uint32_t
{
NONE = 0,
POINTS = (1 << 0), // Goes together with extent
SHAPEINDICES = (1 << 1),
SCALES = (1 << 2),
ORIENTATIONS = (1 << 3),
LINEARVELOCITIES = (1 << 4),
ANGULARVELOCITIES = (1 << 5),
INSTANCEIDS = (1 << 6),
COLORS = (1 << 7),
INVISIBLEIDS = (1 << 8),
ATTRIBUTE0 = (1 << 9),
ATTRIBUTE1 = (1 << 10),
ATTRIBUTE2 = (1 << 11),
ATTRIBUTE3 = (1 << 12),
ALL = (1 << 13) - 1
};
DataMemberId UpdatesToPerform = DataMemberId::ALL;
DataMemberId TimeVarying = DataMemberId::ALL;
float getUniformScale() const { return Scale.Data[0]; }
bool UseUsdGeomPoints = true; // Shape is sphere and geomPoints is desired
uint64_t NumPoints = 0;
const void* Points = nullptr;
UsdBridgeType PointsType = UsdBridgeType::UNDEFINED;
const int* ShapeIndices = nullptr; //if set, one for every point
const void* Scales = nullptr;// 3-vector scale
UsdBridgeType ScalesType = UsdBridgeType::UNDEFINED;
UsdFloat3 Scale = {1, 1, 1};// In case no scales are given
const void* Orientations = nullptr;
UsdBridgeType OrientationsType = UsdBridgeType::UNDEFINED;
UsdQuaternion Orientation;// In case no orientations are given
const void* Colors = nullptr;
UsdBridgeType ColorsType = UsdBridgeType::UNDEFINED;
static constexpr bool PerPrimColors = false; // For compatibility
const float* LinearVelocities = nullptr;
const float* AngularVelocities = nullptr;
const UsdBridgeAttribute* Attributes = nullptr; // Pointer to externally managed attribute array
uint32_t NumAttributes = 0;
const void* InstanceIds = nullptr;
UsdBridgeType InstanceIdsType = UsdBridgeType::UNDEFINED;
const void* InvisibleIds = nullptr; //Index into points
uint64_t NumInvisibleIds = 0;
UsdBridgeType InvisibleIdsType = UsdBridgeType::UNDEFINED;
};
struct UsdBridgeInstancerRefData
{
enum InstanceShape
{
SHAPE_SPHERE = -1,
SHAPE_CYLINDER = -2,
SHAPE_CONE = -3,
SHAPE_MESH = 0 // Positive values denote meshes (allows for indices into a list of meshes passed along with a list of shapes)
};
InstanceShape DefaultShape = SHAPE_SPHERE;
InstanceShape* Shapes = &DefaultShape;
int NumShapes = 1;
UsdFloatMat4 ShapeTransform;
};
struct UsdBridgeCurveData
{
static const UsdBridgeGeomType GeomType = UsdBridgeGeomType::CURVE;
//Class definitions
enum class DataMemberId : uint32_t
{
NONE = 0,
POINTS = (1 << 0), // Goes together with extent and curvelengths
NORMALS = (1 << 1),
SCALES = (1 << 2),
COLORS = (1 << 3),
CURVELENGTHS = (1 << 4),
ATTRIBUTE0 = (1 << 5),
ATTRIBUTE1 = (1 << 6),
ATTRIBUTE2 = (1 << 7),
ATTRIBUTE3 = (1 << 8),
ALL = (1 << 9) - 1
};
DataMemberId UpdatesToPerform = DataMemberId::ALL;
DataMemberId TimeVarying = DataMemberId::ALL;
bool isEmpty() { return Points == NULL; }
float getUniformScale() const { return UniformScale; }
uint64_t NumPoints = 0;
const void* Points = nullptr;
UsdBridgeType PointsType = UsdBridgeType::UNDEFINED;
const void* Normals = nullptr;
UsdBridgeType NormalsType = UsdBridgeType::UNDEFINED;
bool PerPrimNormals = false;
const void* Colors = nullptr;
UsdBridgeType ColorsType = UsdBridgeType::UNDEFINED;
bool PerPrimColors = false; // One prim would be a full curve
const void* Scales = nullptr; // Used for line width, typically 1-component
UsdBridgeType ScalesType = UsdBridgeType::UNDEFINED;
float UniformScale = 1;// In case no scales are given
const UsdBridgeAttribute* Attributes = nullptr; // Pointer to externally managed attribute array
uint32_t NumAttributes = 0;
const int* CurveLengths = nullptr;
uint64_t NumCurveLengths = 0;
};
struct UsdBridgeTfData
{
const void* TfColors = nullptr;
UsdBridgeType TfColorsType = UsdBridgeType::UNDEFINED;
int TfNumColors = 0;
const void* TfOpacities = nullptr;
UsdBridgeType TfOpacitiesType = UsdBridgeType::UNDEFINED;
int TfNumOpacities = 0;
double TfValueRange[2] = { 0, 1 };
};
struct UsdBridgeVolumeData
{
static constexpr int TFDataStart = 2;
enum class DataMemberId : uint32_t
{
NONE = 0,
DATA = (1 << 1), // Includes the extent - number of elements per dimension
VOL_ALL = (1 << TFDataStart) - 1,
TFCOLORS = (1 << (TFDataStart + 0)),
TFOPACITIES = (1 << (TFDataStart + 1)),
TFVALUERANGE = (1 << (TFDataStart + 2)),
ALL = (1 << (TFDataStart + 3)) - 1
};
#if __cplusplus >= 201703L
static_assert(DataMemberId::TFCOLORS > DataMemberId::VOL_ALL);
#endif
DataMemberId UpdatesToPerform = DataMemberId::ALL;
DataMemberId TimeVarying = DataMemberId::ALL;
bool preClassified = false;
const void* Data = nullptr;
UsdBridgeType DataType = UsdBridgeType::UNDEFINED; // Same timeVarying rule as 'Data'
size_t NumElements[3] = { 0,0,0 }; // Same timeVarying rule as 'Data'
float Origin[3] = { 0,0,0 };
float CellDimensions[3] = { 1,1,1 };
long long BackgroundIdx = -1; // When not -1, denotes the first element in Data which contains a background value
UsdBridgeTfData TfData;
};
struct UsdBridgeMaterialData
{
template<typename ValueType>
struct MaterialInput
{
ValueType Value;
const char* SrcAttrib;
bool Sampler; // Only denote whether a sampler is attached
};
enum class DataMemberId : uint32_t
{
NONE = 0,
DIFFUSE = (1 << 0),
OPACITY = (1 << 1),
EMISSIVECOLOR = (1 << 2),
EMISSIVEINTENSITY = (1 << 3),
ROUGHNESS = (1 << 4),
METALLIC = (1 << 5),
IOR = (1 << 6),
ALL = (1 << 7) - 1
};
DataMemberId TimeVarying = DataMemberId::NONE;
bool IsPbr = true;
enum class AlphaModes : uint32_t
{
NONE,
BLEND,
MASK
};
AlphaModes AlphaMode = AlphaModes::NONE;
float AlphaCutoff = 0.5f;
MaterialInput<UsdFloat3> Diffuse = {{ 1.0f }, nullptr};
MaterialInput<UsdFloat3> Emissive = {{ 1.0f }, nullptr};
MaterialInput<float> Opacity = {1.0f, nullptr};
MaterialInput<float> EmissiveIntensity = {0.0f, nullptr};
MaterialInput<float> Roughness = {0.5f, nullptr};
MaterialInput<float> Metallic = {0.0, nullptr};
MaterialInput<float> Ior = {1.0f, nullptr};
};
template<typename ValueType>
const typename ValueType::DataType* GetValuePtr(const UsdBridgeMaterialData::MaterialInput<ValueType>& input)
{
return input.Value.Data;
}
struct UsdBridgeSamplerData
{
enum class SamplerType : uint32_t
{
SAMPLER_1D = 0,
SAMPLER_2D,
SAMPLER_3D
};
enum class DataMemberId : uint32_t
{
NONE = 0,
DATA = (1 << 0), // Refers to: data(-type), image name/url
WRAPS = (1 << 1),
WRAPT = (1 << 2),
WRAPR = (1 << 3),
ALL = (1 << 4) - 1
};
DataMemberId TimeVarying = DataMemberId::NONE;
enum class WrapMode
{
BLACK = 0,
CLAMP,
REPEAT,
MIRROR
};
SamplerType Type = SamplerType::SAMPLER_1D;
const char* InAttribute = nullptr;
const char* ImageUrl = nullptr;
const char* ImageName = nullptr;
uint64_t ImageDims[3] = {0, 0, 0};
int64_t ImageStride[3] = {0, 0, 0};
int ImageNumComponents = 4;
const void* Data = nullptr;
UsdBridgeType DataType = UsdBridgeType::UNDEFINED;
WrapMode WrapS = WrapMode::BLACK;
WrapMode WrapT = WrapMode::BLACK;
WrapMode WrapR = WrapMode::BLACK;
};
struct UsdSamplerRefData
{
int ImageNumComponents;
double TimeStep;
UsdBridgeMaterialData::DataMemberId DataMemberId; // Material input parameter to connect to
};
struct UsdBridgeCameraData
{
enum class DataMemberId : uint32_t
{
NONE = 0,
VIEW = (1 << 0),
PROJECTION = (1 << 1),
ALL = (1 << 9) - 1
};
DataMemberId TimeVarying = DataMemberId::NONE;
UsdFloat3 Position = {0.0f, 0.0f, 0.0f};
UsdFloat3 Direction = {0.0f, 0.0f, -1.0f};
UsdFloat3 Up = {0.0f, 1.0f, 0.0f};
UsdFloatBox2 ImageRegion = {0.0f, 0.0f, 1.0f, 1.0f};
float Aspect;
float Near;
float Far;
float Fovy;
float Height;
};
template<class TEnum>
struct DefineBitMaskOps
{
static const bool enable = false;
};
template<class TEnum>
struct DefineAddSubOps
{
static const bool enable = false;
};
#define USDBRIDGE_ENABLE_BITMASK_OP(DataType)\
template<>\
struct DefineBitMaskOps<DataType::DataMemberId>\
{\
static const bool enable = true;\
};
#define USDBRIDGE_ENABLE_ADDSUB_OP(DataType)\
template<>\
struct DefineAddSubOps<DataType::DataMemberId>\
{\
static const bool enable = true;\
};
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeMeshData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeInstancerData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeCurveData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeVolumeData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeMaterialData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeSamplerData);
USDBRIDGE_ENABLE_BITMASK_OP(UsdBridgeCameraData);
USDBRIDGE_ENABLE_ADDSUB_OP(UsdBridgeMeshData);
USDBRIDGE_ENABLE_ADDSUB_OP(UsdBridgeInstancerData);
USDBRIDGE_ENABLE_ADDSUB_OP(UsdBridgeCurveData);
template<class TEnum>
typename std::enable_if<DefineBitMaskOps<TEnum>::enable, TEnum>::type operator |(TEnum lhs, TEnum rhs)
{
using underlying = typename std::underlying_type<TEnum>::type;
return static_cast<TEnum> (
static_cast<underlying>(lhs) |
static_cast<underlying>(rhs)
);
}
template<class TEnum>
typename std::enable_if<DefineBitMaskOps<TEnum>::enable, TEnum>::type operator &(TEnum lhs, TEnum rhs)
{
using underlying = typename std::underlying_type<TEnum>::type;
return static_cast<TEnum> (
static_cast<underlying>(lhs) &
static_cast<underlying>(rhs)
);
}
template<class TEnum>
typename std::enable_if<DefineBitMaskOps<TEnum>::enable, TEnum>::type operator ~(TEnum rhs)
{
using underlying = typename std::underlying_type<TEnum>::type;
return static_cast<TEnum> (~static_cast<underlying>(rhs));
}
template<class TEnum>
typename std::enable_if<DefineAddSubOps<TEnum>::enable, TEnum>::type operator +(TEnum lhs, int rhs)
{
using underlying = typename std::underlying_type<TEnum>::type;
return static_cast<TEnum> ( static_cast<underlying>(lhs) + rhs );
}
template<class T>
class UsdBridgeUpdateEvaluator
{
public:
UsdBridgeUpdateEvaluator(T& data)
: Data(data)
{
}
bool PerformsUpdate(typename T::DataMemberId member) const
{
return ((Data.UpdatesToPerform & member) != T::DataMemberId::NONE);
}
void RemoveUpdate(typename T::DataMemberId member)
{
Data.UpdatesToPerform = (Data.UpdatesToPerform & ~member);
}
void AddUpdate(typename T::DataMemberId member)
{
Data.UpdatesToPerform = (Data.UpdatesToPerform | member);
}
T& Data;
};
#endif
| 16,295 | C | 24.148148 | 150 | 0.694998 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeUtils.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeUtils_h
#define UsdBridgeUtils_h
#include "UsdBridgeData.h"
// USD-independent utils for the UsdBridge
#define UsdBridgeLogMacro(obj, level, message) \
{ std::stringstream logStream; \
logStream << message; \
std::string logString = logStream.str(); \
obj.LogCallback(level, obj.LogUserData, logString.c_str()); }
namespace ubutils
{
const char* UsdBridgeTypeToString(UsdBridgeType type);
UsdBridgeType UsdBridgeTypeFlatten(UsdBridgeType type);
const float* SrgbToLinearTable(); // returns a float[256] array
float SrgbToLinear(float val);
void SrgbToLinear3(float* color); // expects a float[3]
}
#endif | 727 | C | 25.962962 | 65 | 0.742779 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Common/UsdBridgeUtils.cpp | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridgeUtils.h"
#include <cmath>
namespace ubutils
{
const char* UsdBridgeTypeToString(UsdBridgeType type)
{
const char* typeStr = nullptr;
switch(type)
{
case UsdBridgeType::BOOL: typeStr = "BOOL"; break;
case UsdBridgeType::UCHAR: typeStr = "UCHAR"; break;
case UsdBridgeType::UCHAR_SRGB_R: typeStr = "UCHAR_SRGB_R"; break;
case UsdBridgeType::CHAR: typeStr = "CHAR"; break;
case UsdBridgeType::USHORT: typeStr = "USHORT"; break;
case UsdBridgeType::SHORT: typeStr = "SHORT"; break;
case UsdBridgeType::UINT: typeStr = "UINT"; break;
case UsdBridgeType::INT: typeStr = "INT"; break;
case UsdBridgeType::ULONG: typeStr = "ULONG"; break;
case UsdBridgeType::LONG: typeStr = "LONG"; break;
case UsdBridgeType::HALF: typeStr = "HALF"; break;
case UsdBridgeType::FLOAT: typeStr = "FLOAT"; break;
case UsdBridgeType::DOUBLE: typeStr = "DOUBLE"; break;
case UsdBridgeType::UCHAR2: typeStr = "UCHAR2"; break;
case UsdBridgeType::UCHAR_SRGB_RA: typeStr = "UCHAR_SRGB_RA"; break;
case UsdBridgeType::CHAR2: typeStr = "CHAR2"; break;
case UsdBridgeType::USHORT2: typeStr = "USHORT2"; break;
case UsdBridgeType::SHORT2: typeStr = "SHORT2"; break;
case UsdBridgeType::UINT2: typeStr = "UINT2"; break;
case UsdBridgeType::INT2: typeStr = "INT2"; break;
case UsdBridgeType::ULONG2: typeStr = "ULONG2"; break;
case UsdBridgeType::LONG2: typeStr = "LONG2"; break;
case UsdBridgeType::HALF2: typeStr = "HALF2"; break;
case UsdBridgeType::FLOAT2: typeStr = "FLOAT2"; break;
case UsdBridgeType::DOUBLE2: typeStr = "DOUBLE2"; break;
case UsdBridgeType::UCHAR3: typeStr = "UCHAR3"; break;
case UsdBridgeType::UCHAR_SRGB_RGB: typeStr = "UCHAR_SRGB_RGB"; break;
case UsdBridgeType::CHAR3: typeStr = "CHAR3"; break;
case UsdBridgeType::USHORT3: typeStr = "USHORT3"; break;
case UsdBridgeType::SHORT3: typeStr = "SHORT3"; break;
case UsdBridgeType::UINT3: typeStr = "UINT3"; break;
case UsdBridgeType::INT3: typeStr = "INT3"; break;
case UsdBridgeType::ULONG3: typeStr = "ULONG3"; break;
case UsdBridgeType::LONG3: typeStr = "LONG3"; break;
case UsdBridgeType::HALF3: typeStr = "HALF3"; break;
case UsdBridgeType::FLOAT3: typeStr = "FLOAT3"; break;
case UsdBridgeType::DOUBLE3: typeStr = "DOUBLE3"; break;
case UsdBridgeType::UCHAR4: typeStr = "UCHAR4"; break;
case UsdBridgeType::UCHAR_SRGB_RGBA: typeStr = "UCHAR_SRGB_RGBA"; break;
case UsdBridgeType::CHAR4: typeStr = "CHAR4"; break;
case UsdBridgeType::USHORT4: typeStr = "USHORT4"; break;
case UsdBridgeType::SHORT4: typeStr = "SHORT4"; break;
case UsdBridgeType::UINT4: typeStr = "UINT4"; break;
case UsdBridgeType::INT4: typeStr = "INT4"; break;
case UsdBridgeType::ULONG4: typeStr = "ULONG4"; break;
case UsdBridgeType::LONG4: typeStr = "LONG4"; break;
case UsdBridgeType::HALF4: typeStr = "HALF4"; break;
case UsdBridgeType::FLOAT4: typeStr = "FLOAT4"; break;
case UsdBridgeType::DOUBLE4: typeStr = "DOUBLE4"; break;
case UsdBridgeType::INT_PAIR: typeStr = "INT_PAIR"; break;
case UsdBridgeType::INT_PAIR2: typeStr = "INT_PAIR2"; break;
case UsdBridgeType::INT_PAIR3: typeStr = "INT_PAIR3"; break;
case UsdBridgeType::INT_PAIR4: typeStr = "INT_PAIR4"; break;
case UsdBridgeType::FLOAT_PAIR: typeStr = "FLOAT_PAIR"; break;
case UsdBridgeType::FLOAT_PAIR2: typeStr = "FLOAT_PAIR2"; break;
case UsdBridgeType::FLOAT_PAIR3: typeStr = "FLOAT_PAIR3"; break;
case UsdBridgeType::FLOAT_PAIR4: typeStr = "FLOAT_PAIR4"; break;
case UsdBridgeType::DOUBLE_PAIR: typeStr = "DOUBLE_PAIR"; break;
case UsdBridgeType::DOUBLE_PAIR2: typeStr = "DOUBLE_PAIR2"; break;
case UsdBridgeType::DOUBLE_PAIR3: typeStr = "DOUBLE_PAIR3"; break;
case UsdBridgeType::DOUBLE_PAIR4: typeStr = "DOUBLE_PAIR4"; break;
case UsdBridgeType::ULONG_PAIR: typeStr = "ULONG_PAIR"; break;
case UsdBridgeType::ULONG_PAIR2: typeStr = "ULONG_PAIR2"; break;
case UsdBridgeType::ULONG_PAIR3: typeStr = "ULONG_PAIR3"; break;
case UsdBridgeType::ULONG_PAIR4: typeStr = "ULONG_PAIR4"; break;
case UsdBridgeType::FLOAT_MAT2: typeStr = "FLOAT_MAT2"; break;
case UsdBridgeType::FLOAT_MAT3: typeStr = "FLOAT_MAT3"; break;
case UsdBridgeType::FLOAT_MAT4: typeStr = "FLOAT_MAT4"; break;
case UsdBridgeType::FLOAT_MAT2x3: typeStr = "FLOAT_MAT2x3"; break;
case UsdBridgeType::FLOAT_MAT3x4: typeStr = "FLOAT_MAT3x4"; break;
case UsdBridgeType::UNDEFINED: default: typeStr = "UNDEFINED"; break;
}
return typeStr;
}
UsdBridgeType UsdBridgeTypeFlatten(UsdBridgeType type)
{
UsdBridgeType flatType = UsdBridgeType::UNDEFINED;
switch(type)
{
case UsdBridgeType::BOOL:
case UsdBridgeType::UCHAR:
case UsdBridgeType::UCHAR_SRGB_R:
case UsdBridgeType::CHAR:
case UsdBridgeType::USHORT:
case UsdBridgeType::SHORT:
case UsdBridgeType::UINT:
case UsdBridgeType::INT:
case UsdBridgeType::ULONG:
case UsdBridgeType::LONG:
case UsdBridgeType::HALF:
case UsdBridgeType::FLOAT:
case UsdBridgeType::DOUBLE: flatType = type; break;
case UsdBridgeType::UCHAR2: flatType = UsdBridgeType::UCHAR; break;
case UsdBridgeType::UCHAR_SRGB_RA: flatType = UsdBridgeType::UCHAR_SRGB_R; break;
case UsdBridgeType::CHAR2: flatType = UsdBridgeType::CHAR; break;
case UsdBridgeType::USHORT2: flatType = UsdBridgeType::USHORT; break;
case UsdBridgeType::SHORT2: flatType = UsdBridgeType::SHORT; break;
case UsdBridgeType::UINT2: flatType = UsdBridgeType::UINT; break;
case UsdBridgeType::INT2: flatType = UsdBridgeType::INT; break;
case UsdBridgeType::ULONG2: flatType = UsdBridgeType::ULONG; break;
case UsdBridgeType::LONG2: flatType = UsdBridgeType::LONG; break;
case UsdBridgeType::HALF2: flatType = UsdBridgeType::HALF; break;
case UsdBridgeType::FLOAT2: flatType = UsdBridgeType::FLOAT; break;
case UsdBridgeType::DOUBLE2: flatType = UsdBridgeType::DOUBLE; break;
case UsdBridgeType::UCHAR3: flatType = UsdBridgeType::UCHAR; break;
case UsdBridgeType::UCHAR_SRGB_RGB: flatType = UsdBridgeType::UCHAR_SRGB_R; break;
case UsdBridgeType::CHAR3: flatType = UsdBridgeType::CHAR; break;
case UsdBridgeType::USHORT3:flatType = UsdBridgeType::USHORT; break;
case UsdBridgeType::SHORT3: flatType = UsdBridgeType::SHORT; break;
case UsdBridgeType::UINT3: flatType = UsdBridgeType::UINT; break;
case UsdBridgeType::INT3: flatType = UsdBridgeType::INT; break;
case UsdBridgeType::ULONG3: flatType = UsdBridgeType::ULONG; break;
case UsdBridgeType::LONG3: flatType = UsdBridgeType::LONG; break;
case UsdBridgeType::HALF3: flatType = UsdBridgeType::HALF; break;
case UsdBridgeType::FLOAT3: flatType = UsdBridgeType::FLOAT; break;
case UsdBridgeType::DOUBLE3: flatType = UsdBridgeType::DOUBLE; break;
case UsdBridgeType::UCHAR4: flatType = UsdBridgeType::UCHAR; break;
case UsdBridgeType::UCHAR_SRGB_RGBA: flatType = UsdBridgeType::UCHAR_SRGB_R; break;
case UsdBridgeType::CHAR4: flatType = UsdBridgeType::CHAR; break;
case UsdBridgeType::USHORT4: flatType = UsdBridgeType::USHORT; break;
case UsdBridgeType::SHORT4: flatType = UsdBridgeType::SHORT; break;
case UsdBridgeType::UINT4: flatType = UsdBridgeType::UINT; break;
case UsdBridgeType::INT4: flatType = UsdBridgeType::INT; break;
case UsdBridgeType::ULONG4: flatType = UsdBridgeType::ULONG; break;
case UsdBridgeType::LONG4: flatType = UsdBridgeType::LONG; break;
case UsdBridgeType::HALF4: flatType = UsdBridgeType::HALF; break;
case UsdBridgeType::FLOAT4: flatType = UsdBridgeType::FLOAT; break;
case UsdBridgeType::DOUBLE4: flatType = UsdBridgeType::DOUBLE; break;
case UsdBridgeType::INT_PAIR:
case UsdBridgeType::INT_PAIR2:
case UsdBridgeType::INT_PAIR3:
case UsdBridgeType::INT_PAIR4: flatType = UsdBridgeType::INT; break;
case UsdBridgeType::FLOAT_PAIR:
case UsdBridgeType::FLOAT_PAIR2:
case UsdBridgeType::FLOAT_PAIR3:
case UsdBridgeType::FLOAT_PAIR4: flatType = UsdBridgeType::FLOAT; break;
case UsdBridgeType::DOUBLE_PAIR:
case UsdBridgeType::DOUBLE_PAIR2:
case UsdBridgeType::DOUBLE_PAIR3:
case UsdBridgeType::DOUBLE_PAIR4: flatType = UsdBridgeType::DOUBLE; break;
case UsdBridgeType::ULONG_PAIR:
case UsdBridgeType::ULONG_PAIR2:
case UsdBridgeType::ULONG_PAIR3:
case UsdBridgeType::ULONG_PAIR4: flatType = UsdBridgeType::ULONG; break;
case UsdBridgeType::FLOAT_MAT2:
case UsdBridgeType::FLOAT_MAT3:
case UsdBridgeType::FLOAT_MAT4:
case UsdBridgeType::FLOAT_MAT2x3:
case UsdBridgeType::FLOAT_MAT3x4: flatType = UsdBridgeType::FLOAT; break;
case UsdBridgeType::UNDEFINED: default: flatType = UsdBridgeType::UNDEFINED; break;
}
return flatType;
}
const unsigned int SRGBTable[] =
{
0x00000000,0x399f22b4,0x3a1f22b4,0x3a6eb40e,0x3a9f22b4,0x3ac6eb61,0x3aeeb40e,0x3b0b3e5d,
0x3b1f22b4,0x3b33070b,0x3b46eb61,0x3b5b518d,0x3b70f18d,0x3b83e1c6,0x3b8fe616,0x3b9c87fd,
0x3ba9c9b7,0x3bb7ad6f,0x3bc63549,0x3bd56361,0x3be539c1,0x3bf5ba70,0x3c0373b5,0x3c0c6152,
0x3c15a703,0x3c1f45be,0x3c293e6b,0x3c3391f7,0x3c3e4149,0x3c494d43,0x3c54b6c7,0x3c607eb1,
0x3c6ca5df,0x3c792d22,0x3c830aa8,0x3c89af9f,0x3c9085db,0x3c978dc5,0x3c9ec7c2,0x3ca63433,
0x3cadd37d,0x3cb5a601,0x3cbdac20,0x3cc5e639,0x3cce54ab,0x3cd6f7d5,0x3cdfd010,0x3ce8ddb9,
0x3cf2212c,0x3cfb9ac1,0x3d02a569,0x3d0798dc,0x3d0ca7e6,0x3d11d2af,0x3d171963,0x3d1c7c2e,
0x3d21fb3c,0x3d2796b2,0x3d2d4ebb,0x3d332380,0x3d39152b,0x3d3f23e3,0x3d454fd1,0x3d4b991c,
0x3d51ffef,0x3d58846a,0x3d5f26b7,0x3d65e6fe,0x3d6cc564,0x3d73c20f,0x3d7add29,0x3d810b67,
0x3d84b795,0x3d887330,0x3d8c3e4a,0x3d9018f6,0x3d940345,0x3d97fd4a,0x3d9c0716,0x3da020bb,
0x3da44a4b,0x3da883d7,0x3daccd70,0x3db12728,0x3db59112,0x3dba0b3b,0x3dbe95b5,0x3dc33092,
0x3dc7dbe2,0x3dcc97b6,0x3dd1641f,0x3dd6412c,0x3ddb2eef,0x3de02d77,0x3de53cd5,0x3dea5d19,
0x3def8e52,0x3df4d091,0x3dfa23e8,0x3dff8861,0x3e027f07,0x3e054280,0x3e080ea3,0x3e0ae378,
0x3e0dc105,0x3e10a754,0x3e13966b,0x3e168e52,0x3e198f10,0x3e1c98ad,0x3e1fab30,0x3e22c6a3,
0x3e25eb09,0x3e29186c,0x3e2c4ed0,0x3e2f8e41,0x3e32d6c4,0x3e362861,0x3e39831e,0x3e3ce703,
0x3e405416,0x3e43ca5f,0x3e4749e4,0x3e4ad2ae,0x3e4e64c2,0x3e520027,0x3e55a4e6,0x3e595303,
0x3e5d0a8b,0x3e60cb7c,0x3e6495e0,0x3e6869bf,0x3e6c4720,0x3e702e0c,0x3e741e84,0x3e781890,
0x3e7c1c38,0x3e8014c2,0x3e82203c,0x3e84308d,0x3e8645ba,0x3e885fc5,0x3e8a7eb2,0x3e8ca283,
0x3e8ecb3d,0x3e90f8e1,0x3e932b74,0x3e9562f8,0x3e979f71,0x3e99e0e2,0x3e9c274e,0x3e9e72b7,
0x3ea0c322,0x3ea31892,0x3ea57308,0x3ea7d289,0x3eaa3718,0x3eaca0b7,0x3eaf0f69,0x3eb18333,
0x3eb3fc18,0x3eb67a18,0x3eb8fd37,0x3ebb8579,0x3ebe12e1,0x3ec0a571,0x3ec33d2d,0x3ec5da17,
0x3ec87c33,0x3ecb2383,0x3ecdd00b,0x3ed081cd,0x3ed338cc,0x3ed5f50b,0x3ed8b68d,0x3edb7d54,
0x3ede4965,0x3ee11ac1,0x3ee3f16b,0x3ee6cd67,0x3ee9aeb6,0x3eec955d,0x3eef815d,0x3ef272ba,
0x3ef56976,0x3ef86594,0x3efb6717,0x3efe6e02,0x3f00bd2d,0x3f02460e,0x3f03d1a7,0x3f055ff9,
0x3f06f106,0x3f0884cf,0x3f0a1b56,0x3f0bb49b,0x3f0d50a0,0x3f0eef67,0x3f1090f1,0x3f12353e,
0x3f13dc51,0x3f15862b,0x3f1732cd,0x3f18e239,0x3f1a946f,0x3f1c4971,0x3f1e0141,0x3f1fbbdf,
0x3f21794e,0x3f23398e,0x3f24fca0,0x3f26c286,0x3f288b41,0x3f2a56d3,0x3f2c253d,0x3f2df680,
0x3f2fca9e,0x3f31a197,0x3f337b6c,0x3f355820,0x3f3737b3,0x3f391a26,0x3f3aff7c,0x3f3ce7b5,
0x3f3ed2d2,0x3f40c0d4,0x3f42b1be,0x3f44a590,0x3f469c4b,0x3f4895f1,0x3f4a9282,0x3f4c9201,
0x3f4e946e,0x3f5099cb,0x3f52a218,0x3f54ad57,0x3f56bb8a,0x3f58ccb0,0x3f5ae0cd,0x3f5cf7e0,
0x3f5f11ec,0x3f612eee,0x3f634eef,0x3f6571e9,0x3f6797e3,0x3f69c0d6,0x3f6beccd,0x3f6e1bbf,
0x3f704db8,0x3f7282af,0x3f74baae,0x3f76f5ae,0x3f7933b9,0x3f7b74c6,0x3f7db8e0,0x3f800000
};
const float* SrgbToLinearTable()
{
return reinterpret_cast<const float*>(SRGBTable);
}
float SrgbToLinear(float val)
{
if( val < 0.04045f )
val /= 12.92f;
else
val = pow((val + 0.055f)/1.055f,2.4f);
return val;
}
void SrgbToLinear3(float* color)
{
color[0] = SrgbToLinear(color[0]);
color[1] = SrgbToLinear(color[1]);
color[2] = SrgbToLinear(color[2]);
}
} | 12,747 | C++ | 54.91228 | 94 | 0.72519 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Connection/UsdBridgeConnection.cpp | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#include "UsdBridgeConnection.h"
#include <fstream>
#include <sstream>
#include <atomic>
#include <thread>
#include <condition_variable>
#include <algorithm>
#include <cstring>
#ifdef WIN32
#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L)
#include <filesystem>
namespace fs = std::filesystem;
#else
#define _SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#endif
#else
#if (__GNUC__ < 8 || __cplusplus < 201703L)
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#endif
#define UsdBridgeLogMacro(level, message) \
{ std::stringstream logStream; \
logStream << message; \
std::string logString = logStream.str(); \
try \
{ \
UsdBridgeConnection::LogCallback(level, UsdBridgeConnection::LogUserData, logString.c_str()); \
} \
catch (...) {} \
}
#define CONNECT_CATCH(a) \
catch (const std::bad_alloc &) \
{ \
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR,"USDBRIDGECONNECTION BAD ALLOC\n"); \
return a; \
} \
catch (const std::exception &e) \
{ \
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR,"USDBRIDGECONNECTION ERROR: " << e.what()); \
return a; \
} \
catch (...) \
{ \
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR,"USDBRIDGECONNECTION UNKNOWN EXCEPTION\n"); \
return a; \
}
UsdBridgeLogCallback UsdBridgeConnection::LogCallback = nullptr;
void* UsdBridgeConnection::LogUserData = nullptr;
const char* UsdBridgeConnection::GetBaseUrl() const
{
return Settings.WorkingDirectory.c_str();
}
const char* UsdBridgeConnection::GetUrl(const char* path) const
{
TempUrl = Settings.WorkingDirectory + path;
return TempUrl.c_str();
}
bool UsdBridgeConnection::Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj)
{
Settings = settings;
UsdBridgeConnection::LogCallback = logObj.LogCallback;
UsdBridgeConnection::LogUserData = logObj.LogUserData;
return true;
}
void UsdBridgeConnection::Shutdown()
{
}
int UsdBridgeConnection::MaxSessionNr() const
{
int sessionNr = 0;
try
{
for (;; ++sessionNr)
{
TempUrl = Settings.WorkingDirectory + "Session_" + std::to_string(sessionNr);
if (!fs::exists(TempUrl))
break;
}
}
CONNECT_CATCH(-1)
return sessionNr - 1;
}
bool UsdBridgeConnection::CreateFolder(const char* dirName, bool isRelative, bool mayExist) const
{
try
{
const char* dirUrl = isRelative ? GetUrl(dirName) : dirName;
if (!mayExist || !fs::exists(dirUrl))
return fs::create_directory(dirUrl);
}
CONNECT_CATCH(false)
return true;
}
bool UsdBridgeConnection::RemoveFolder(const char* dirName, bool isRelative) const
{
bool success = false;
try
{
const char* dirUrl = isRelative ? GetUrl(dirName) : dirName;
if(fs::exists(dirUrl))
success = fs::remove_all(dirUrl);
}
CONNECT_CATCH(false)
return success;
}
bool UsdBridgeConnection::WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary) const
{
try
{
const char* fileUrl = isRelative ? GetUrl(filePath) : filePath;
std::ofstream file(fileUrl, std::ios_base::out
| std::ios_base::trunc
| (binary ? std::ios_base::binary : std::ios_base::out));
if (file.is_open())
{
file.write(data, dataSize);
file.close();
return true;
}
}
CONNECT_CATCH(false)
return false;
}
bool UsdBridgeConnection::RemoveFile(const char* filePath, bool isRelative) const
{
bool success = false;
try
{
const char* fileUrl = isRelative ? GetUrl(filePath) : filePath;
if (fs::exists(fileUrl))
success = fs::remove(fileUrl);
}
CONNECT_CATCH(false)
return success;
}
bool UsdBridgeConnection::ProcessUpdates()
{
return true;
}
class UsdBridgeRemoteConnectionInternals
{
public:
UsdBridgeRemoteConnectionInternals()
: RemoteStream(std::ios::in | std::ios::out)
{}
~UsdBridgeRemoteConnectionInternals()
{}
std::ostream* ResetStream(const char * filePath, bool binary)
{
StreamFilePath = filePath;
StreamIsBinary = binary;
RemoteStream.clear();
return &RemoteStream;
}
// To facility the Omniverse path methods
static constexpr size_t MaxBaseUrlSize = 4096;
char BaseUrlBuffer[MaxBaseUrlSize];
char TempUrlBuffer[MaxBaseUrlSize];
// Status callback handle
uint32_t StatusCallbackHandle = 0;
// Stream
const char* StreamFilePath;
bool StreamIsBinary;
std::stringstream RemoteStream;
};
int UsdBridgeRemoteConnection::NumConnInstances = 0;
int UsdBridgeRemoteConnection::NumInitializedConnInstances = 0;
int UsdBridgeRemoteConnection::ConnectionLogLevel = 0;
UsdBridgeRemoteConnection::UsdBridgeRemoteConnection()
: Internals(new UsdBridgeRemoteConnectionInternals())
{
}
UsdBridgeRemoteConnection::~UsdBridgeRemoteConnection()
{
delete Internals;
}
#ifdef OMNIVERSE_CONNECTION_ENABLE
#include <OmniClient.h>
namespace
{
struct DefaultContext
{
OmniClientResult result = eOmniClientResult_Error;
bool done = false;
};
const char* omniResultToString(OmniClientResult result)
{
const char* msg = nullptr;
switch (result)
{
case eOmniClientResult_Ok: msg = "eOmniClientResult_Ok"; break;
case eOmniClientResult_OkLatest: msg = "eOmniClientResult_OkLatest"; break;
case eOmniClientResult_OkNotYetFound: msg = "eOmniClientResult_OkNotYetFound"; break;
case eOmniClientResult_Error: msg = "eOmniClientResult_Error"; break;
case eOmniClientResult_ErrorConnection: msg = "eOmniClientResult_ErrorConnection"; break;
case eOmniClientResult_ErrorNotSupported: msg = "eOmniClientResult_ErrorNotSupported"; break;
case eOmniClientResult_ErrorAccessDenied: msg = "eOmniClientResult_ErrorAccessDenied"; break;
case eOmniClientResult_ErrorNotFound: msg = "eOmniClientResult_ErrorNotFound"; break;
case eOmniClientResult_ErrorBadVersion: msg = "eOmniClientResult_ErrorBadVersion"; break;
case eOmniClientResult_ErrorAlreadyExists: msg = "eOmniClientResult_ErrorAlreadyExists"; break;
case eOmniClientResult_ErrorAccessLost: msg = "eOmniClientResult_ErrorAccessLost"; break;
default: msg = "Unknown OmniClientResult"; break;
};
return msg;
}
void OmniClientStatusCB(const char* threadName, const char* component, OmniClientLogLevel level, const char* message) OMNICLIENT_NOEXCEPT
{
static std::mutex statusMutex;
std::unique_lock<std::mutex> lk(statusMutex);
// This will return "Verbose", "Info", "Warning", "Error"
//const char* levelString = omniClientGetLogLevelString(level);
char levelChar = omniClientGetLogLevelChar(level);
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "OmniClient status message: ");
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "level: " << levelChar << ", thread: " << threadName << ", component: " << component << ", msg: " << message);
}
void OmniClientConnectionStatusCB(void* userData, char const* url, OmniClientConnectionStatus status) OMNICLIENT_NOEXCEPT
{
(void)userData;
static std::mutex statusMutex;
std::unique_lock<std::mutex> lk(statusMutex);
{
std::string urlStr;
if (url) urlStr = url;
switch (status)
{
case eOmniClientConnectionStatus_Connecting: { UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Attempting to connect to " << urlStr); break; }
case eOmniClientConnectionStatus_Connected: { UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Successfully connected to " << urlStr); break; }
case eOmniClientConnectionStatus_ConnectError: { UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Error trying to connect (will attempt reconnection) to " << urlStr); break; }
case eOmniClientConnectionStatus_Disconnected: { UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Disconnected (will attempt reconnection) to " << urlStr); break; }
case Count_eOmniClientConnectionStatus:
default:
break;
}
}
}
OmniClientResult IsValidServerConnection(const char* serverUrl)
{
struct ServerInfoContect : public DefaultContext
{
std::string retVersion;
} context;
omniClientWait(omniClientGetServerInfo(serverUrl, &context,
[](void* userData, OmniClientResult result, OmniClientServerInfo const * info) OMNICLIENT_NOEXCEPT
{
ServerInfoContect& context = *(ServerInfoContect*)(userData);
if (context.result != eOmniClientResult_Ok)
{
context.result = result;
if (result == eOmniClientResult_Ok && info->version)
{
context.retVersion = info->version;
}
context.done = true;
}
})
);
return context.result;
}
void UsdBridgeSetConnectionLogLevel(int logLevel)
{
int clampedLevel = eOmniClientLogLevel_Debug + (logLevel < 0 ? 0 : logLevel);
clampedLevel = (clampedLevel < (int)Count_eOmniClientLogLevel) ? clampedLevel : Count_eOmniClientLogLevel - 1;
omniClientSetLogLevel((OmniClientLogLevel)clampedLevel);
}
}
const char* UsdBridgeRemoteConnection::GetBaseUrl() const
{
return Internals->BaseUrlBuffer;
}
const char* UsdBridgeRemoteConnection::GetUrl(const char* path) const
{
size_t parsedBufSize = Internals->MaxBaseUrlSize;
char* combinedUrl = omniClientCombineUrls(Internals->BaseUrlBuffer, path, Internals->TempUrlBuffer, &parsedBufSize);
return combinedUrl;
}
bool UsdBridgeRemoteConnection::Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj)
{
bool initSuccess = UsdBridgeConnection::Initialize(settings, logObj);
if (NumInitializedConnInstances == 0)
{
omniClientSetLogCallback(OmniClientStatusCB);
}
if (NumConnInstances == 0)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Establishing connection - Omniverse Client Initialization -");
initSuccess = omniClientInitialize(kOmniClientVersion);
UsdBridgeSetConnectionLogLevel(ConnectionLogLevel);
}
++NumConnInstances;
if (initSuccess && NumInitializedConnInstances == 0)
{
Internals->StatusCallbackHandle = omniClientRegisterConnectionStatusCallback(nullptr, OmniClientConnectionStatusCB);
}
if (initSuccess)
{
// Check for Url validity for its various components
std::string serverUrl = "omniverse://" + Settings.HostName + "/";
std::string rawUrl = serverUrl + Settings.WorkingDirectory;
OmniClientUrl* brokenUrl = omniClientBreakUrl(rawUrl.c_str());
if (!brokenUrl->scheme)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Illegal Omniverse scheme.");
initSuccess = false;
}
if (!brokenUrl->host || strlen(brokenUrl->host) == 0)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Illegal Omniverse server.");
initSuccess = false;
}
if (!brokenUrl->path || strlen(brokenUrl->path) == 0)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Illegal Omniverse working directory.");
initSuccess = false;
}
char* urlRes = nullptr;
if (initSuccess)
{
size_t parsedBufSize = Internals->MaxBaseUrlSize;
urlRes = omniClientMakeUrl(brokenUrl, Internals->BaseUrlBuffer, &parsedBufSize);
if (!urlRes)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Connection Url invalid, exceeds 4096 characters.");
initSuccess = false;
}
}
if (initSuccess)
{
OmniClientResult result = IsValidServerConnection(serverUrl.c_str());
if (result != eOmniClientResult_Ok)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Server connection cannot be established, errorcode:" << omniResultToString(result));
initSuccess = false;
}
}
if (initSuccess)
{
bool result = this->CheckWritePermissions();
if (!result)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Omniverse user does not have write permissions to selected output directory.");
initSuccess = false;
}
}
if (initSuccess)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Server for connection:" << brokenUrl->host);
if (brokenUrl->port)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Port for connection:" << brokenUrl->port);
}
if (NumInitializedConnInstances == 0)
{
//omniClientPushBaseUrl(urlRes); // Base urls only apply to *normal* omniClient calls, not usd stage creation
}
++NumInitializedConnInstances;
ConnectionInitialized = true;
}
omniClientFreeUrl(brokenUrl);
}
return initSuccess;
}
void UsdBridgeRemoteConnection::Shutdown()
{
if (ConnectionInitialized && --NumInitializedConnInstances == 0)
{
omniClientSetLogCallback(nullptr);
if (Internals->StatusCallbackHandle)
omniClientUnregisterCallback(Internals->StatusCallbackHandle);
omniClientLiveWaitForPendingUpdates();
//omniClientPopBaseUrl(Internals->BaseUrlBuffer);
//omniClientShutdown();
}
}
int UsdBridgeRemoteConnection::MaxSessionNr() const
{
struct SessionListContext : public DefaultContext
{
int sessionNumber = -1;
} context;
const char* baseUrl = this->GetBaseUrl();
omniClientWait(omniClientList(
baseUrl, &context,
[](void* userData, OmniClientResult result, uint32_t numEntries, struct OmniClientListEntry const* entries) OMNICLIENT_NOEXCEPT
{
auto& context = *(SessionListContext*)(userData);
{
if (result == eOmniClientResult_Ok)
{
for (uint32_t i = 0; i < numEntries; i++)
{
const char* relPath = entries[i].relativePath;
if (strncmp("Session_", relPath, 8) == 0)
{
int pathSessionNr = std::atoi(relPath + 8);
context.sessionNumber = std::max(context.sessionNumber, pathSessionNr);
}
}
}
context.done = true;
}
})
);
return context.sessionNumber;
}
bool UsdBridgeRemoteConnection::CreateFolder(const char* dirName, bool isRelative, bool mayExist) const
{
DefaultContext context;
const char* dirUrl = isRelative ? this->GetUrl(dirName) : dirName;
omniClientWait(omniClientCreateFolder(dirUrl, &context,
[](void* userData, OmniClientResult result) OMNICLIENT_NOEXCEPT
{
auto& context = *(DefaultContext*)(userData);
context.result = result;
context.done = true;
})
);
return context.result == eOmniClientResult_Ok || context.result == eOmniClientResult_OkLatest
|| (mayExist && context.result == eOmniClientResult_ErrorAlreadyExists);
}
bool UsdBridgeRemoteConnection::RemoveFolder(const char* dirName, bool isRelative) const
{
DefaultContext context;
const char* dirUrl = isRelative ? this->GetUrl(dirName) : dirName;
omniClientWait(omniClientDelete(dirUrl, &context,
[](void* userData, OmniClientResult result) OMNICLIENT_NOEXCEPT
{
auto& context = *(DefaultContext*)(userData);
context.result = result;
context.done = true;
})
);
return context.result == eOmniClientResult_Ok || context.result == eOmniClientResult_OkLatest;
}
bool UsdBridgeRemoteConnection::WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary) const
{
(void)binary;
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Copying data to: " << filePath);
DefaultContext context;
const char* fileUrl = isRelative ? this->GetUrl(filePath) : filePath;
OmniClientContent omniContent{ (void*)data, dataSize, nullptr };
omniClientWait(omniClientWriteFile(fileUrl, &omniContent, &context, [](void* userData, OmniClientResult result) OMNICLIENT_NOEXCEPT
{
auto& context = *(DefaultContext*)(userData);
context.result = result;
context.done = true;
})
);
return context.result == eOmniClientResult_Ok || context.result == eOmniClientResult_OkLatest;
}
bool UsdBridgeRemoteConnection::RemoveFile(const char* filePath, bool isRelative) const
{
DefaultContext context;
UsdBridgeLogMacro(UsdBridgeLogLevel::STATUS, "Removing file: " << filePath);
const char* fileUrl = isRelative ? this->GetUrl(filePath) : filePath;
omniClientWait(omniClientDelete(fileUrl, &context, [](void* userData, OmniClientResult result) OMNICLIENT_NOEXCEPT
{
auto& context = *(DefaultContext*)(userData);
context.result = result;
context.done = true;
})
);
return context.result == eOmniClientResult_Ok || context.result == eOmniClientResult_OkLatest;
}
bool UsdBridgeRemoteConnection::ProcessUpdates()
{
omniClientLiveProcess();
return true;
}
bool UsdBridgeRemoteConnection::CheckWritePermissions()
{
bool success = this->CreateFolder("", true, true);
return success;
}
void UsdBridgeRemoteConnection::SetConnectionLogLevel(int logLevel)
{
ConnectionLogLevel = logLevel;
if (NumConnInstances > 0)
{
UsdBridgeSetConnectionLogLevel(logLevel);
}
}
int UsdBridgeRemoteConnection::GetConnectionLogLevelMax()
{
return Count_eOmniClientLogLevel - 1;
}
#else
const char* UsdBridgeRemoteConnection::GetBaseUrl() const
{
return UsdBridgeConnection::GetBaseUrl();
}
const char* UsdBridgeRemoteConnection::GetUrl(const char* path) const
{
return UsdBridgeConnection::GetUrl(path);
}
bool UsdBridgeRemoteConnection::Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj)
{
return UsdBridgeConnection::Initialize(settings, logObj);
}
void UsdBridgeRemoteConnection::Shutdown()
{
UsdBridgeConnection::Shutdown();
}
int UsdBridgeRemoteConnection::MaxSessionNr() const
{
return UsdBridgeConnection::MaxSessionNr();
}
bool UsdBridgeRemoteConnection::CreateFolder(const char* dirName, bool isRelative, bool mayExist) const
{
return UsdBridgeConnection::CreateFolder(dirName, isRelative, mayExist);
}
bool UsdBridgeRemoteConnection::RemoveFolder(const char* dirName, bool isRelative) const
{
return UsdBridgeConnection::RemoveFolder(dirName, isRelative);
}
bool UsdBridgeRemoteConnection::WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary) const
{
return UsdBridgeConnection::WriteFile(data, dataSize, filePath, isRelative, binary);
}
bool UsdBridgeRemoteConnection::RemoveFile(const char* filePath, bool isRelative) const
{
return UsdBridgeConnection::RemoveFile(filePath, isRelative);
}
bool UsdBridgeRemoteConnection::ProcessUpdates()
{
UsdBridgeConnection::ProcessUpdates();
return true;
}
bool UsdBridgeRemoteConnection::CheckWritePermissions()
{
return true;
}
void UsdBridgeRemoteConnection::SetConnectionLogLevel(int logLevel)
{
}
int UsdBridgeRemoteConnection::GetConnectionLogLevelMax()
{
return 0;
}
#endif //OMNIVERSE_CONNECTION_ENABLE
UsdBridgeLocalConnection::UsdBridgeLocalConnection()
{
}
UsdBridgeLocalConnection::~UsdBridgeLocalConnection()
{
}
const char* UsdBridgeLocalConnection::GetBaseUrl() const
{
return UsdBridgeConnection::GetBaseUrl();
}
const char* UsdBridgeLocalConnection::GetUrl(const char* path) const
{
return UsdBridgeConnection::GetUrl(path);
}
bool UsdBridgeLocalConnection::Initialize(const UsdBridgeConnectionSettings& settings, const UsdBridgeLogObject& logObj)
{
bool initSuccess = UsdBridgeConnection::Initialize(settings, logObj);
if (initSuccess)
{
if (settings.WorkingDirectory.length() == 0)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Local Output Directory not set, cannot initialize output.");
return false;
}
bool workingDirExists = fs::exists(settings.WorkingDirectory);
if (!workingDirExists)
workingDirExists = fs::create_directory(settings.WorkingDirectory);
if (!workingDirExists)
{
UsdBridgeLogMacro(UsdBridgeLogLevel::ERR, "Cannot create Local Output Directory, are permissions set correctly?");
return false;
}
else
{
return true;
}
}
return initSuccess;
}
void UsdBridgeLocalConnection::Shutdown()
{
UsdBridgeConnection::Shutdown();
}
int UsdBridgeLocalConnection::MaxSessionNr() const
{
return UsdBridgeConnection::MaxSessionNr();
}
bool UsdBridgeLocalConnection::CreateFolder(const char* dirName, bool isRelative, bool mayExist) const
{
return UsdBridgeConnection::CreateFolder(dirName, isRelative, mayExist);
}
bool UsdBridgeLocalConnection::RemoveFolder(const char* dirName, bool isRelative) const
{
return UsdBridgeConnection::RemoveFolder(dirName, isRelative);
}
bool UsdBridgeLocalConnection::WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary) const
{
return UsdBridgeConnection::WriteFile(data, dataSize, filePath, isRelative, binary);
}
bool UsdBridgeLocalConnection::RemoveFile(const char* filePath, bool isRelative) const
{
return UsdBridgeConnection::RemoveFile(filePath, isRelative);
}
bool UsdBridgeLocalConnection::ProcessUpdates()
{
UsdBridgeConnection::ProcessUpdates();
return true;
}
UsdBridgeVoidConnection::UsdBridgeVoidConnection()
{
}
UsdBridgeVoidConnection::~UsdBridgeVoidConnection()
{
}
const char* UsdBridgeVoidConnection::GetBaseUrl() const
{
return UsdBridgeConnection::GetBaseUrl();
}
const char* UsdBridgeVoidConnection::GetUrl(const char* path) const
{
return UsdBridgeConnection::GetUrl(path);
}
bool UsdBridgeVoidConnection::Initialize(const UsdBridgeConnectionSettings& settings, const UsdBridgeLogObject& logObj)
{
bool initialized = UsdBridgeConnection::Initialize(settings, logObj);
Settings.WorkingDirectory = "./";// Force relative working directory in case of unforeseen usd saves based on GetUrl()
return initialized;
}
void UsdBridgeVoidConnection::Shutdown()
{
UsdBridgeConnection::Shutdown();
}
int UsdBridgeVoidConnection::MaxSessionNr() const
{
return -1;
}
bool UsdBridgeVoidConnection::CreateFolder(const char* dirName, bool isRelative, bool mayExist) const
{
return true;
}
bool UsdBridgeVoidConnection::RemoveFolder(const char* dirName, bool isRelative) const
{
return true;
}
bool UsdBridgeVoidConnection::WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary) const
{
return true;
}
bool UsdBridgeVoidConnection::RemoveFile(const char* filePath, bool isRelative) const
{
return true;
}
bool UsdBridgeVoidConnection::ProcessUpdates()
{
return true;
} | 23,255 | C++ | 28.033708 | 178 | 0.697613 |
NVIDIA-Omniverse/AnariUsdDevice/UsdBridge/Connection/UsdBridgeConnection.h | // Copyright 2020 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#ifndef UsdBridgeConnection_h
#define UsdBridgeConnection_h
#include "UsdBridgeData.h"
#include <string>
class UsdBridgeRemoteConnectionInternals;
struct UsdBridgeConnectionSettings
{
std::string HostName;
std::string WorkingDirectory;
};
class UsdBridgeConnection
{
public:
UsdBridgeConnection() {}
virtual ~UsdBridgeConnection() {};
virtual const char* GetBaseUrl() const = 0;
virtual const char* GetUrl(const char* path) const = 0;
virtual bool Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj) = 0;
virtual void Shutdown() = 0;
virtual int MaxSessionNr() const = 0;
virtual bool CreateFolder(const char* dirName, bool isRelative, bool mayExist) const = 0;
virtual bool RemoveFolder(const char* dirName, bool isRelative) const = 0;
virtual bool WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary = true) const = 0;
virtual bool RemoveFile(const char* filePath, bool isRelative) const = 0;
virtual bool ProcessUpdates() = 0;
static UsdBridgeLogCallback LogCallback;
static void* LogUserData;
UsdBridgeConnectionSettings Settings;
protected:
mutable std::string TempUrl;
};
class UsdBridgeLocalConnection : public UsdBridgeConnection
{
public:
UsdBridgeLocalConnection();
~UsdBridgeLocalConnection() override;
const char* GetBaseUrl() const override;
const char* GetUrl(const char* path) const override;
bool Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj) override;
void Shutdown() override;
int MaxSessionNr() const override;
bool CreateFolder(const char* dirName, bool isRelative, bool mayExist) const override;
bool RemoveFolder(const char* dirName, bool isRelative) const override;
bool WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary = true) const override;
bool RemoveFile(const char* filePath, bool isRelative) const override;
bool ProcessUpdates() override;
protected:
};
class UsdBridgeRemoteConnection : public UsdBridgeConnection
{
public:
UsdBridgeRemoteConnection();
~UsdBridgeRemoteConnection() override;
const char* GetBaseUrl() const override;
const char* GetUrl(const char* path) const override;
bool Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj) override;
void Shutdown() override;
int MaxSessionNr() const override;
bool CreateFolder(const char* dirName, bool isRelative, bool mayExist) const override;
bool RemoveFolder(const char* dirName, bool isRelative) const override;
bool WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary = true) const override;
bool RemoveFile(const char* filePath, bool isRelative) const override;
bool ProcessUpdates() override;
static void SetConnectionLogLevel(int logLevel);
static int GetConnectionLogLevelMax();
static int NumConnInstances;
static int NumInitializedConnInstances;
protected:
bool CheckWritePermissions();
UsdBridgeRemoteConnectionInternals* Internals;
bool ConnectionInitialized = false;
static int ConnectionLogLevel;
};
class UsdBridgeVoidConnection : public UsdBridgeConnection
{
public:
UsdBridgeVoidConnection();
~UsdBridgeVoidConnection() override;
const char* GetBaseUrl() const override;
const char* GetUrl(const char* path) const override;
bool Initialize(const UsdBridgeConnectionSettings& settings,
const UsdBridgeLogObject& logObj) override;
void Shutdown() override;
int MaxSessionNr() const override;
bool CreateFolder(const char* dirName, bool isRelative, bool mayExist) const override;
bool RemoveFolder(const char* dirName, bool isRelative) const override;
bool WriteFile(const char* data, size_t dataSize, const char* filePath, bool isRelative, bool binary = true) const override;
bool RemoveFile(const char* filePath, bool isRelative) const override;
bool ProcessUpdates() override;
protected:
};
#endif
| 4,118 | C | 28.007042 | 129 | 0.774648 |
NVIDIA-Omniverse/AnariUsdDevice/thirdparty/stb_image/stb_image.c | // Copyright 2021 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#define STB_IMAGE_IMPLEMENTATION
#include "stb_image.h"
| 132 | C | 21.166663 | 38 | 0.765152 |
NVIDIA-Omniverse/AnariUsdDevice/thirdparty/stb_image/stb_image_write.c | // Copyright 2021 The Khronos Group
// SPDX-License-Identifier: Apache-2.0
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image_write.h" | 143 | C | 27.799994 | 38 | 0.776224 |
NVIDIA-Omniverse/AnariUsdDevice/thirdparty/stb_image/stb_image_write.h | /* stb_image_write - v1.15 - public domain - http://nothings.org/stb
writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015
no warranty implied; use at your own risk
Before #including,
#define STB_IMAGE_WRITE_IMPLEMENTATION
in the file that you want to have the implementation.
Will probably not work correctly with strict-aliasing optimizations.
ABOUT:
This header file is a library for writing images to C stdio or a callback.
The PNG output is not optimal; it is 20-50% larger than the file
written by a decent optimizing implementation; though providing a custom
zlib compress function (see STBIW_ZLIB_COMPRESS) can mitigate that.
This library is designed for source code compactness and simplicity,
not optimal image file size or run-time performance.
BUILDING:
You can #define STBIW_ASSERT(x) before the #include to avoid using assert.h.
You can #define STBIW_MALLOC(), STBIW_REALLOC(), and STBIW_FREE() to replace
malloc,realloc,free.
You can #define STBIW_MEMMOVE() to replace memmove()
You can #define STBIW_ZLIB_COMPRESS to use a custom zlib-style compress function
for PNG compression (instead of the builtin one), it must have the following signature:
unsigned char * my_compress(unsigned char *data, int data_len, int *out_len, int quality);
The returned data will be freed with STBIW_FREE() (free() by default),
so it must be heap allocated with STBIW_MALLOC() (malloc() by default),
UNICODE:
If compiling for Windows and you wish to use Unicode filenames, compile
with
#define STBIW_WINDOWS_UTF8
and pass utf8-encoded filenames. Call stbiw_convert_wchar_to_utf8 to convert
Windows wchar_t filenames to utf8.
USAGE:
There are five functions, one for each image file format:
int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);
int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);
int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);
int stbi_write_jpg(char const *filename, int w, int h, int comp, const void *data, int quality);
int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);
void stbi_flip_vertically_on_write(int flag); // flag is non-zero to flip data vertically
There are also five equivalent functions that use an arbitrary write function. You are
expected to open/close your file-equivalent before and after calling these:
int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);
int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);
int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);
int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);
int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);
where the callback is:
void stbi_write_func(void *context, void *data, int size);
You can configure it with these global variables:
int stbi_write_tga_with_rle; // defaults to true; set to 0 to disable RLE
int stbi_write_png_compression_level; // defaults to 8; set to higher for more compression
int stbi_write_force_png_filter; // defaults to -1; set to 0..5 to force a filter mode
You can define STBI_WRITE_NO_STDIO to disable the file variant of these
functions, so the library will not use stdio.h at all. However, this will
also disable HDR writing, because it requires stdio for formatted output.
Each function returns 0 on failure and non-0 on success.
The functions create an image file defined by the parameters. The image
is a rectangle of pixels stored from left-to-right, top-to-bottom.
Each pixel contains 'comp' channels of data stored interleaved with 8-bits
per channel, in the following order: 1=Y, 2=YA, 3=RGB, 4=RGBA. (Y is
monochrome color.) The rectangle is 'w' pixels wide and 'h' pixels tall.
The *data pointer points to the first byte of the top-left-most pixel.
For PNG, "stride_in_bytes" is the distance in bytes from the first byte of
a row of pixels to the first byte of the next row of pixels.
PNG creates output files with the same number of components as the input.
The BMP format expands Y to RGB in the file format and does not
output alpha.
PNG supports writing rectangles of data even when the bytes storing rows of
data are not consecutive in memory (e.g. sub-rectangles of a larger image),
by supplying the stride between the beginning of adjacent rows. The other
formats do not. (Thus you cannot write a native-format BMP through the BMP
writer, both because it is in BGR order and because it may have padding
at the end of the line.)
PNG allows you to set the deflate compression level by setting the global
variable 'stbi_write_png_compression_level' (it defaults to 8).
HDR expects linear float data. Since the format is always 32-bit rgb(e)
data, alpha (if provided) is discarded, and for monochrome data it is
replicated across all three channels.
TGA supports RLE or non-RLE compressed data. To use non-RLE-compressed
data, set the global variable 'stbi_write_tga_with_rle' to 0.
JPEG does ignore alpha channels in input data; quality is between 1 and 100.
Higher quality looks better but results in a bigger image.
JPEG baseline (no JPEG progressive).
CREDITS:
Sean Barrett - PNG/BMP/TGA
Baldur Karlsson - HDR
Jean-Sebastien Guay - TGA monochrome
Tim Kelsey - misc enhancements
Alan Hickman - TGA RLE
Emmanuel Julien - initial file IO callback implementation
Jon Olick - original jo_jpeg.cpp code
Daniel Gibson - integrate JPEG, allow external zlib
Aarni Koskela - allow choosing PNG filter
bugfixes:
github:Chribba
Guillaume Chereau
github:jry2
github:romigrou
Sergio Gonzalez
Jonas Karlsson
Filip Wasil
Thatcher Ulrich
github:poppolopoppo
Patrick Boettcher
github:xeekworx
Cap Petschulat
Simon Rodriguez
Ivan Tikhonov
github:ignotion
Adam Schackart
LICENSE
See end of file for license information.
*/
#ifndef INCLUDE_STB_IMAGE_WRITE_H
#define INCLUDE_STB_IMAGE_WRITE_H
#include <stdlib.h>
// if STB_IMAGE_WRITE_STATIC causes problems, try defining STBIWDEF to 'inline' or 'static inline'
#ifndef STBIWDEF
#ifdef STB_IMAGE_WRITE_STATIC
#define STBIWDEF static
#else
#ifdef __cplusplus
#define STBIWDEF extern "C"
#else
#define STBIWDEF extern
#endif
#endif
#endif
#ifndef STB_IMAGE_WRITE_STATIC // C++ forbids static forward declarations
extern int stbi_write_tga_with_rle;
extern int stbi_write_png_compression_level;
extern int stbi_write_force_png_filter;
#endif
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);
STBIWDEF int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);
STBIWDEF int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);
STBIWDEF int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);
STBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality);
#ifdef STBI_WINDOWS_UTF8
STBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);
#endif
#endif
typedef void stbi_write_func(void *context, void *data, int size);
STBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);
STBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);
STBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);
STBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);
STBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);
STBIWDEF void stbi_flip_vertically_on_write(int flip_boolean);
#endif//INCLUDE_STB_IMAGE_WRITE_H
#ifdef STB_IMAGE_WRITE_IMPLEMENTATION
#ifdef _WIN32
#ifndef _CRT_SECURE_NO_WARNINGS
#define _CRT_SECURE_NO_WARNINGS
#endif
#ifndef _CRT_NONSTDC_NO_DEPRECATE
#define _CRT_NONSTDC_NO_DEPRECATE
#endif
#endif
#ifndef STBI_WRITE_NO_STDIO
#include <stdio.h>
#endif // STBI_WRITE_NO_STDIO
#include <stdarg.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#if defined(STBIW_MALLOC) && defined(STBIW_FREE) && (defined(STBIW_REALLOC) || defined(STBIW_REALLOC_SIZED))
// ok
#elif !defined(STBIW_MALLOC) && !defined(STBIW_FREE) && !defined(STBIW_REALLOC) && !defined(STBIW_REALLOC_SIZED)
// ok
#else
#error "Must define all or none of STBIW_MALLOC, STBIW_FREE, and STBIW_REALLOC (or STBIW_REALLOC_SIZED)."
#endif
#ifndef STBIW_MALLOC
#define STBIW_MALLOC(sz) malloc(sz)
#define STBIW_REALLOC(p,newsz) realloc(p,newsz)
#define STBIW_FREE(p) free(p)
#endif
#ifndef STBIW_REALLOC_SIZED
#define STBIW_REALLOC_SIZED(p,oldsz,newsz) STBIW_REALLOC(p,newsz)
#endif
#ifndef STBIW_MEMMOVE
#define STBIW_MEMMOVE(a,b,sz) memmove(a,b,sz)
#endif
#ifndef STBIW_ASSERT
#include <assert.h>
#define STBIW_ASSERT(x) assert(x)
#endif
#define STBIW_UCHAR(x) (unsigned char) ((x) & 0xff)
#ifdef STB_IMAGE_WRITE_STATIC
static int stbi_write_png_compression_level = 8;
static int stbi_write_tga_with_rle = 1;
static int stbi_write_force_png_filter = -1;
#else
int stbi_write_png_compression_level = 8;
int stbi_write_tga_with_rle = 1;
int stbi_write_force_png_filter = -1;
#endif
static int stbi__flip_vertically_on_write = 0;
STBIWDEF void stbi_flip_vertically_on_write(int flag)
{
stbi__flip_vertically_on_write = flag;
}
typedef struct
{
stbi_write_func *func;
void *context;
unsigned char buffer[64];
int buf_used;
} stbi__write_context;
// initialize a callback-based context
static void stbi__start_write_callbacks(stbi__write_context *s, stbi_write_func *c, void *context)
{
s->func = c;
s->context = context;
}
#ifndef STBI_WRITE_NO_STDIO
static void stbi__stdio_write(void *context, void *data, int size)
{
fwrite(data,1,size,(FILE*) context);
}
#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)
#ifdef __cplusplus
#define STBIW_EXTERN extern "C"
#else
#define STBIW_EXTERN extern
#endif
STBIW_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);
STBIW_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);
STBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)
{
return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);
}
#endif
static FILE *stbiw__fopen(char const *filename, char const *mode)
{
FILE *f;
#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)
wchar_t wMode[64];
wchar_t wFilename[1024];
if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))
return 0;
if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))
return 0;
#if _MSC_VER >= 1400
if (0 != _wfopen_s(&f, wFilename, wMode))
f = 0;
#else
f = _wfopen(wFilename, wMode);
#endif
#elif defined(_MSC_VER) && _MSC_VER >= 1400
if (0 != fopen_s(&f, filename, mode))
f=0;
#else
f = fopen(filename, mode);
#endif
return f;
}
static int stbi__start_write_file(stbi__write_context *s, const char *filename)
{
FILE *f = stbiw__fopen(filename, "wb");
stbi__start_write_callbacks(s, stbi__stdio_write, (void *) f);
return f != NULL;
}
static void stbi__end_write_file(stbi__write_context *s)
{
fclose((FILE *)s->context);
}
#endif // !STBI_WRITE_NO_STDIO
typedef unsigned int stbiw_uint32;
typedef int stb_image_write_test[sizeof(stbiw_uint32)==4 ? 1 : -1];
static void stbiw__writefv(stbi__write_context *s, const char *fmt, va_list v)
{
while (*fmt) {
switch (*fmt++) {
case ' ': break;
case '1': { unsigned char x = STBIW_UCHAR(va_arg(v, int));
s->func(s->context,&x,1);
break; }
case '2': { int x = va_arg(v,int);
unsigned char b[2];
b[0] = STBIW_UCHAR(x);
b[1] = STBIW_UCHAR(x>>8);
s->func(s->context,b,2);
break; }
case '4': { stbiw_uint32 x = va_arg(v,int);
unsigned char b[4];
b[0]=STBIW_UCHAR(x);
b[1]=STBIW_UCHAR(x>>8);
b[2]=STBIW_UCHAR(x>>16);
b[3]=STBIW_UCHAR(x>>24);
s->func(s->context,b,4);
break; }
default:
STBIW_ASSERT(0);
return;
}
}
}
static void stbiw__writef(stbi__write_context *s, const char *fmt, ...)
{
va_list v;
va_start(v, fmt);
stbiw__writefv(s, fmt, v);
va_end(v);
}
static void stbiw__write_flush(stbi__write_context *s)
{
if (s->buf_used) {
s->func(s->context, &s->buffer, s->buf_used);
s->buf_used = 0;
}
}
static void stbiw__putc(stbi__write_context *s, unsigned char c)
{
s->func(s->context, &c, 1);
}
static void stbiw__write1(stbi__write_context *s, unsigned char a)
{
if (s->buf_used + 1 > sizeof(s->buffer))
stbiw__write_flush(s);
s->buffer[s->buf_used++] = a;
}
static void stbiw__write3(stbi__write_context *s, unsigned char a, unsigned char b, unsigned char c)
{
int n;
if (s->buf_used + 3 > sizeof(s->buffer))
stbiw__write_flush(s);
n = s->buf_used;
s->buf_used = n+3;
s->buffer[n+0] = a;
s->buffer[n+1] = b;
s->buffer[n+2] = c;
}
static void stbiw__write_pixel(stbi__write_context *s, int rgb_dir, int comp, int write_alpha, int expand_mono, unsigned char *d)
{
unsigned char bg[3] = { 255, 0, 255}, px[3];
int k;
if (write_alpha < 0)
stbiw__write1(s, d[comp - 1]);
switch (comp) {
case 2: // 2 pixels = mono + alpha, alpha is written separately, so same as 1-channel case
case 1:
if (expand_mono)
stbiw__write3(s, d[0], d[0], d[0]); // monochrome bmp
else
stbiw__write1(s, d[0]); // monochrome TGA
break;
case 4:
if (!write_alpha) {
// composite against pink background
for (k = 0; k < 3; ++k)
px[k] = bg[k] + ((d[k] - bg[k]) * d[3]) / 255;
stbiw__write3(s, px[1 - rgb_dir], px[1], px[1 + rgb_dir]);
break;
}
/* FALLTHROUGH */
case 3:
stbiw__write3(s, d[1 - rgb_dir], d[1], d[1 + rgb_dir]);
break;
}
if (write_alpha > 0)
stbiw__write1(s, d[comp - 1]);
}
static void stbiw__write_pixels(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, void *data, int write_alpha, int scanline_pad, int expand_mono)
{
stbiw_uint32 zero = 0;
int i,j, j_end;
if (y <= 0)
return;
if (stbi__flip_vertically_on_write)
vdir *= -1;
if (vdir < 0) {
j_end = -1; j = y-1;
} else {
j_end = y; j = 0;
}
for (; j != j_end; j += vdir) {
for (i=0; i < x; ++i) {
unsigned char *d = (unsigned char *) data + (j*x+i)*comp;
stbiw__write_pixel(s, rgb_dir, comp, write_alpha, expand_mono, d);
}
stbiw__write_flush(s);
s->func(s->context, &zero, scanline_pad);
}
}
static int stbiw__outfile(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, int expand_mono, void *data, int alpha, int pad, const char *fmt, ...)
{
if (y < 0 || x < 0) {
return 0;
} else {
va_list v;
va_start(v, fmt);
stbiw__writefv(s, fmt, v);
va_end(v);
stbiw__write_pixels(s,rgb_dir,vdir,x,y,comp,data,alpha,pad, expand_mono);
return 1;
}
}
static int stbi_write_bmp_core(stbi__write_context *s, int x, int y, int comp, const void *data)
{
int pad = (-x*3) & 3;
return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *) data,0,pad,
"11 4 22 4" "4 44 22 444444",
'B', 'M', 14+40+(x*3+pad)*y, 0,0, 14+40, // file header
40, x,y, 1,24, 0,0,0,0,0,0); // bitmap header
}
STBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)
{
stbi__write_context s = { 0 };
stbi__start_write_callbacks(&s, func, context);
return stbi_write_bmp_core(&s, x, y, comp, data);
}
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_bmp(char const *filename, int x, int y, int comp, const void *data)
{
stbi__write_context s = { 0 };
if (stbi__start_write_file(&s,filename)) {
int r = stbi_write_bmp_core(&s, x, y, comp, data);
stbi__end_write_file(&s);
return r;
} else
return 0;
}
#endif //!STBI_WRITE_NO_STDIO
static int stbi_write_tga_core(stbi__write_context *s, int x, int y, int comp, void *data)
{
int has_alpha = (comp == 2 || comp == 4);
int colorbytes = has_alpha ? comp-1 : comp;
int format = colorbytes < 2 ? 3 : 2; // 3 color channels (RGB/RGBA) = 2, 1 color channel (Y/YA) = 3
if (y < 0 || x < 0)
return 0;
if (!stbi_write_tga_with_rle) {
return stbiw__outfile(s, -1, -1, x, y, comp, 0, (void *) data, has_alpha, 0,
"111 221 2222 11", 0, 0, format, 0, 0, 0, 0, 0, x, y, (colorbytes + has_alpha) * 8, has_alpha * 8);
} else {
int i,j,k;
int jend, jdir;
stbiw__writef(s, "111 221 2222 11", 0,0,format+8, 0,0,0, 0,0,x,y, (colorbytes + has_alpha) * 8, has_alpha * 8);
if (stbi__flip_vertically_on_write) {
j = 0;
jend = y;
jdir = 1;
} else {
j = y-1;
jend = -1;
jdir = -1;
}
for (; j != jend; j += jdir) {
unsigned char *row = (unsigned char *) data + j * x * comp;
int len;
for (i = 0; i < x; i += len) {
unsigned char *begin = row + i * comp;
int diff = 1;
len = 1;
if (i < x - 1) {
++len;
diff = memcmp(begin, row + (i + 1) * comp, comp);
if (diff) {
const unsigned char *prev = begin;
for (k = i + 2; k < x && len < 128; ++k) {
if (memcmp(prev, row + k * comp, comp)) {
prev += comp;
++len;
} else {
--len;
break;
}
}
} else {
for (k = i + 2; k < x && len < 128; ++k) {
if (!memcmp(begin, row + k * comp, comp)) {
++len;
} else {
break;
}
}
}
}
if (diff) {
unsigned char header = STBIW_UCHAR(len - 1);
stbiw__write1(s, header);
for (k = 0; k < len; ++k) {
stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin + k * comp);
}
} else {
unsigned char header = STBIW_UCHAR(len - 129);
stbiw__write1(s, header);
stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin);
}
}
}
stbiw__write_flush(s);
}
return 1;
}
STBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)
{
stbi__write_context s = { 0 };
stbi__start_write_callbacks(&s, func, context);
return stbi_write_tga_core(&s, x, y, comp, (void *) data);
}
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_tga(char const *filename, int x, int y, int comp, const void *data)
{
stbi__write_context s = { 0 };
if (stbi__start_write_file(&s,filename)) {
int r = stbi_write_tga_core(&s, x, y, comp, (void *) data);
stbi__end_write_file(&s);
return r;
} else
return 0;
}
#endif
// *************************************************************************************************
// Radiance RGBE HDR writer
// by Baldur Karlsson
#define stbiw__max(a, b) ((a) > (b) ? (a) : (b))
static void stbiw__linear_to_rgbe(unsigned char *rgbe, float *linear)
{
int exponent;
float maxcomp = stbiw__max(linear[0], stbiw__max(linear[1], linear[2]));
if (maxcomp < 1e-32f) {
rgbe[0] = rgbe[1] = rgbe[2] = rgbe[3] = 0;
} else {
float normalize = (float) frexp(maxcomp, &exponent) * 256.0f/maxcomp;
rgbe[0] = (unsigned char)(linear[0] * normalize);
rgbe[1] = (unsigned char)(linear[1] * normalize);
rgbe[2] = (unsigned char)(linear[2] * normalize);
rgbe[3] = (unsigned char)(exponent + 128);
}
}
static void stbiw__write_run_data(stbi__write_context *s, int length, unsigned char databyte)
{
unsigned char lengthbyte = STBIW_UCHAR(length+128);
STBIW_ASSERT(length+128 <= 255);
s->func(s->context, &lengthbyte, 1);
s->func(s->context, &databyte, 1);
}
static void stbiw__write_dump_data(stbi__write_context *s, int length, unsigned char *data)
{
unsigned char lengthbyte = STBIW_UCHAR(length);
STBIW_ASSERT(length <= 128); // inconsistent with spec but consistent with official code
s->func(s->context, &lengthbyte, 1);
s->func(s->context, data, length);
}
static void stbiw__write_hdr_scanline(stbi__write_context *s, int width, int ncomp, unsigned char *scratch, float *scanline)
{
unsigned char scanlineheader[4] = { 2, 2, 0, 0 };
unsigned char rgbe[4];
float linear[3];
int x;
scanlineheader[2] = (width&0xff00)>>8;
scanlineheader[3] = (width&0x00ff);
/* skip RLE for images too small or large */
if (width < 8 || width >= 32768) {
for (x=0; x < width; x++) {
switch (ncomp) {
case 4: /* fallthrough */
case 3: linear[2] = scanline[x*ncomp + 2];
linear[1] = scanline[x*ncomp + 1];
linear[0] = scanline[x*ncomp + 0];
break;
default:
linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];
break;
}
stbiw__linear_to_rgbe(rgbe, linear);
s->func(s->context, rgbe, 4);
}
} else {
int c,r;
/* encode into scratch buffer */
for (x=0; x < width; x++) {
switch(ncomp) {
case 4: /* fallthrough */
case 3: linear[2] = scanline[x*ncomp + 2];
linear[1] = scanline[x*ncomp + 1];
linear[0] = scanline[x*ncomp + 0];
break;
default:
linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];
break;
}
stbiw__linear_to_rgbe(rgbe, linear);
scratch[x + width*0] = rgbe[0];
scratch[x + width*1] = rgbe[1];
scratch[x + width*2] = rgbe[2];
scratch[x + width*3] = rgbe[3];
}
s->func(s->context, scanlineheader, 4);
/* RLE each component separately */
for (c=0; c < 4; c++) {
unsigned char *comp = &scratch[width*c];
x = 0;
while (x < width) {
// find first run
r = x;
while (r+2 < width) {
if (comp[r] == comp[r+1] && comp[r] == comp[r+2])
break;
++r;
}
if (r+2 >= width)
r = width;
// dump up to first run
while (x < r) {
int len = r-x;
if (len > 128) len = 128;
stbiw__write_dump_data(s, len, &comp[x]);
x += len;
}
// if there's a run, output it
if (r+2 < width) { // same test as what we break out of in search loop, so only true if we break'd
// find next byte after run
while (r < width && comp[r] == comp[x])
++r;
// output run up to r
while (x < r) {
int len = r-x;
if (len > 127) len = 127;
stbiw__write_run_data(s, len, comp[x]);
x += len;
}
}
}
}
}
}
static int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, float *data)
{
if (y <= 0 || x <= 0 || data == NULL)
return 0;
else {
// Each component is stored separately. Allocate scratch space for full output scanline.
unsigned char *scratch = (unsigned char *) STBIW_MALLOC(x*4);
int i, len;
char buffer[128];
char header[] = "#?RADIANCE\n# Written by stb_image_write.h\nFORMAT=32-bit_rle_rgbe\n";
s->func(s->context, header, sizeof(header)-1);
#ifdef __STDC_WANT_SECURE_LIB__
len = sprintf_s(buffer, sizeof(buffer), "EXPOSURE= 1.0000000000000\n\n-Y %d +X %d\n", y, x);
#else
len = sprintf(buffer, "EXPOSURE= 1.0000000000000\n\n-Y %d +X %d\n", y, x);
#endif
s->func(s->context, buffer, len);
for(i=0; i < y; i++)
stbiw__write_hdr_scanline(s, x, comp, scratch, data + comp*x*(stbi__flip_vertically_on_write ? y-1-i : i));
STBIW_FREE(scratch);
return 1;
}
}
STBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const float *data)
{
stbi__write_context s = { 0 };
stbi__start_write_callbacks(&s, func, context);
return stbi_write_hdr_core(&s, x, y, comp, (float *) data);
}
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_hdr(char const *filename, int x, int y, int comp, const float *data)
{
stbi__write_context s = { 0 };
if (stbi__start_write_file(&s,filename)) {
int r = stbi_write_hdr_core(&s, x, y, comp, (float *) data);
stbi__end_write_file(&s);
return r;
} else
return 0;
}
#endif // STBI_WRITE_NO_STDIO
//////////////////////////////////////////////////////////////////////////////
//
// PNG writer
//
#ifndef STBIW_ZLIB_COMPRESS
// stretchy buffer; stbiw__sbpush() == vector<>::push_back() -- stbiw__sbcount() == vector<>::size()
#define stbiw__sbraw(a) ((int *) (void *) (a) - 2)
#define stbiw__sbm(a) stbiw__sbraw(a)[0]
#define stbiw__sbn(a) stbiw__sbraw(a)[1]
#define stbiw__sbneedgrow(a,n) ((a)==0 || stbiw__sbn(a)+n >= stbiw__sbm(a))
#define stbiw__sbmaybegrow(a,n) (stbiw__sbneedgrow(a,(n)) ? stbiw__sbgrow(a,n) : 0)
#define stbiw__sbgrow(a,n) stbiw__sbgrowf((void **) &(a), (n), sizeof(*(a)))
#define stbiw__sbpush(a, v) (stbiw__sbmaybegrow(a,1), (a)[stbiw__sbn(a)++] = (v))
#define stbiw__sbcount(a) ((a) ? stbiw__sbn(a) : 0)
#define stbiw__sbfree(a) ((a) ? STBIW_FREE(stbiw__sbraw(a)),0 : 0)
static void *stbiw__sbgrowf(void **arr, int increment, int itemsize)
{
int m = *arr ? 2*stbiw__sbm(*arr)+increment : increment+1;
void *p = STBIW_REALLOC_SIZED(*arr ? stbiw__sbraw(*arr) : 0, *arr ? (stbiw__sbm(*arr)*itemsize + sizeof(int)*2) : 0, itemsize * m + sizeof(int)*2);
STBIW_ASSERT(p);
if (p) {
if (!*arr) ((int *) p)[1] = 0;
*arr = (void *) ((int *) p + 2);
stbiw__sbm(*arr) = m;
}
return *arr;
}
static unsigned char *stbiw__zlib_flushf(unsigned char *data, unsigned int *bitbuffer, int *bitcount)
{
while (*bitcount >= 8) {
stbiw__sbpush(data, STBIW_UCHAR(*bitbuffer));
*bitbuffer >>= 8;
*bitcount -= 8;
}
return data;
}
static int stbiw__zlib_bitrev(int code, int codebits)
{
int res=0;
while (codebits--) {
res = (res << 1) | (code & 1);
code >>= 1;
}
return res;
}
static unsigned int stbiw__zlib_countm(unsigned char *a, unsigned char *b, int limit)
{
int i;
for (i=0; i < limit && i < 258; ++i)
if (a[i] != b[i]) break;
return i;
}
static unsigned int stbiw__zhash(unsigned char *data)
{
stbiw_uint32 hash = data[0] + (data[1] << 8) + (data[2] << 16);
hash ^= hash << 3;
hash += hash >> 5;
hash ^= hash << 4;
hash += hash >> 17;
hash ^= hash << 25;
hash += hash >> 6;
return hash;
}
#define stbiw__zlib_flush() (out = stbiw__zlib_flushf(out, &bitbuf, &bitcount))
#define stbiw__zlib_add(code,codebits) \
(bitbuf |= (code) << bitcount, bitcount += (codebits), stbiw__zlib_flush())
#define stbiw__zlib_huffa(b,c) stbiw__zlib_add(stbiw__zlib_bitrev(b,c),c)
// default huffman tables
#define stbiw__zlib_huff1(n) stbiw__zlib_huffa(0x30 + (n), 8)
#define stbiw__zlib_huff2(n) stbiw__zlib_huffa(0x190 + (n)-144, 9)
#define stbiw__zlib_huff3(n) stbiw__zlib_huffa(0 + (n)-256,7)
#define stbiw__zlib_huff4(n) stbiw__zlib_huffa(0xc0 + (n)-280,8)
#define stbiw__zlib_huff(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : (n) <= 255 ? stbiw__zlib_huff2(n) : (n) <= 279 ? stbiw__zlib_huff3(n) : stbiw__zlib_huff4(n))
#define stbiw__zlib_huffb(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : stbiw__zlib_huff2(n))
#define stbiw__ZHASH 16384
#endif // STBIW_ZLIB_COMPRESS
STBIWDEF unsigned char * stbi_zlib_compress(unsigned char *data, int data_len, int *out_len, int quality)
{
#ifdef STBIW_ZLIB_COMPRESS
// user provided a zlib compress implementation, use that
return STBIW_ZLIB_COMPRESS(data, data_len, out_len, quality);
#else // use builtin
static unsigned short lengthc[] = { 3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258, 259 };
static unsigned char lengtheb[]= { 0,0,0,0,0,0,0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0 };
static unsigned short distc[] = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577, 32768 };
static unsigned char disteb[] = { 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13 };
unsigned int bitbuf=0;
int i,j, bitcount=0;
unsigned char *out = NULL;
unsigned char ***hash_table = (unsigned char***) STBIW_MALLOC(stbiw__ZHASH * sizeof(unsigned char**));
if (hash_table == NULL)
return NULL;
if (quality < 5) quality = 5;
stbiw__sbpush(out, 0x78); // DEFLATE 32K window
stbiw__sbpush(out, 0x5e); // FLEVEL = 1
stbiw__zlib_add(1,1); // BFINAL = 1
stbiw__zlib_add(1,2); // BTYPE = 1 -- fixed huffman
for (i=0; i < stbiw__ZHASH; ++i)
hash_table[i] = NULL;
i=0;
while (i < data_len-3) {
// hash next 3 bytes of data to be compressed
int h = stbiw__zhash(data+i)&(stbiw__ZHASH-1), best=3;
unsigned char *bestloc = 0;
unsigned char **hlist = hash_table[h];
int n = stbiw__sbcount(hlist);
for (j=0; j < n; ++j) {
if (hlist[j]-data > i-32768) { // if entry lies within window
int d = stbiw__zlib_countm(hlist[j], data+i, data_len-i);
if (d >= best) { best=d; bestloc=hlist[j]; }
}
}
// when hash table entry is too long, delete half the entries
if (hash_table[h] && stbiw__sbn(hash_table[h]) == 2*quality) {
STBIW_MEMMOVE(hash_table[h], hash_table[h]+quality, sizeof(hash_table[h][0])*quality);
stbiw__sbn(hash_table[h]) = quality;
}
stbiw__sbpush(hash_table[h],data+i);
if (bestloc) {
// "lazy matching" - check match at *next* byte, and if it's better, do cur byte as literal
h = stbiw__zhash(data+i+1)&(stbiw__ZHASH-1);
hlist = hash_table[h];
n = stbiw__sbcount(hlist);
for (j=0; j < n; ++j) {
if (hlist[j]-data > i-32767) {
int e = stbiw__zlib_countm(hlist[j], data+i+1, data_len-i-1);
if (e > best) { // if next match is better, bail on current match
bestloc = NULL;
break;
}
}
}
}
if (bestloc) {
int d = (int) (data+i - bestloc); // distance back
STBIW_ASSERT(d <= 32767 && best <= 258);
for (j=0; best > lengthc[j+1]-1; ++j);
stbiw__zlib_huff(j+257);
if (lengtheb[j]) stbiw__zlib_add(best - lengthc[j], lengtheb[j]);
for (j=0; d > distc[j+1]-1; ++j);
stbiw__zlib_add(stbiw__zlib_bitrev(j,5),5);
if (disteb[j]) stbiw__zlib_add(d - distc[j], disteb[j]);
i += best;
} else {
stbiw__zlib_huffb(data[i]);
++i;
}
}
// write out final bytes
for (;i < data_len; ++i)
stbiw__zlib_huffb(data[i]);
stbiw__zlib_huff(256); // end of block
// pad with 0 bits to byte boundary
while (bitcount)
stbiw__zlib_add(0,1);
for (i=0; i < stbiw__ZHASH; ++i)
(void) stbiw__sbfree(hash_table[i]);
STBIW_FREE(hash_table);
{
// compute adler32 on input
unsigned int s1=1, s2=0;
int blocklen = (int) (data_len % 5552);
j=0;
while (j < data_len) {
for (i=0; i < blocklen; ++i) { s1 += data[j+i]; s2 += s1; }
s1 %= 65521; s2 %= 65521;
j += blocklen;
blocklen = 5552;
}
stbiw__sbpush(out, STBIW_UCHAR(s2 >> 8));
stbiw__sbpush(out, STBIW_UCHAR(s2));
stbiw__sbpush(out, STBIW_UCHAR(s1 >> 8));
stbiw__sbpush(out, STBIW_UCHAR(s1));
}
*out_len = stbiw__sbn(out);
// make returned pointer freeable
STBIW_MEMMOVE(stbiw__sbraw(out), out, *out_len);
return (unsigned char *) stbiw__sbraw(out);
#endif // STBIW_ZLIB_COMPRESS
}
static unsigned int stbiw__crc32(unsigned char *buffer, int len)
{
#ifdef STBIW_CRC32
return STBIW_CRC32(buffer, len);
#else
static unsigned int crc_table[256] =
{
0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
0x0eDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
};
unsigned int crc = ~0u;
int i;
for (i=0; i < len; ++i)
crc = (crc >> 8) ^ crc_table[buffer[i] ^ (crc & 0xff)];
return ~crc;
#endif
}
#define stbiw__wpng4(o,a,b,c,d) ((o)[0]=STBIW_UCHAR(a),(o)[1]=STBIW_UCHAR(b),(o)[2]=STBIW_UCHAR(c),(o)[3]=STBIW_UCHAR(d),(o)+=4)
#define stbiw__wp32(data,v) stbiw__wpng4(data, (v)>>24,(v)>>16,(v)>>8,(v));
#define stbiw__wptag(data,s) stbiw__wpng4(data, s[0],s[1],s[2],s[3])
static void stbiw__wpcrc(unsigned char **data, int len)
{
unsigned int crc = stbiw__crc32(*data - len - 4, len+4);
stbiw__wp32(*data, crc);
}
static unsigned char stbiw__paeth(int a, int b, int c)
{
int p = a + b - c, pa = abs(p-a), pb = abs(p-b), pc = abs(p-c);
if (pa <= pb && pa <= pc) return STBIW_UCHAR(a);
if (pb <= pc) return STBIW_UCHAR(b);
return STBIW_UCHAR(c);
}
// @OPTIMIZE: provide an option that always forces left-predict or paeth predict
static void stbiw__encode_png_line(unsigned char *pixels, int stride_bytes, int width, int height, int y, int n, int filter_type, signed char *line_buffer)
{
static int mapping[] = { 0,1,2,3,4 };
static int firstmap[] = { 0,1,0,5,6 };
int *mymap = (y != 0) ? mapping : firstmap;
int i;
int type = mymap[filter_type];
unsigned char *z = pixels + stride_bytes * (stbi__flip_vertically_on_write ? height-1-y : y);
int signed_stride = stbi__flip_vertically_on_write ? -stride_bytes : stride_bytes;
if (type==0) {
memcpy(line_buffer, z, width*n);
return;
}
// first loop isn't optimized since it's just one pixel
for (i = 0; i < n; ++i) {
switch (type) {
case 1: line_buffer[i] = z[i]; break;
case 2: line_buffer[i] = z[i] - z[i-signed_stride]; break;
case 3: line_buffer[i] = z[i] - (z[i-signed_stride]>>1); break;
case 4: line_buffer[i] = (signed char) (z[i] - stbiw__paeth(0,z[i-signed_stride],0)); break;
case 5: line_buffer[i] = z[i]; break;
case 6: line_buffer[i] = z[i]; break;
}
}
switch (type) {
case 1: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-n]; break;
case 2: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-signed_stride]; break;
case 3: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - ((z[i-n] + z[i-signed_stride])>>1); break;
case 4: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], z[i-signed_stride], z[i-signed_stride-n]); break;
case 5: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - (z[i-n]>>1); break;
case 6: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], 0,0); break;
}
}
STBIWDEF unsigned char *stbi_write_png_to_mem(const unsigned char *pixels, int stride_bytes, int x, int y, int n, int *out_len)
{
int force_filter = stbi_write_force_png_filter;
int ctype[5] = { -1, 0, 4, 2, 6 };
unsigned char sig[8] = { 137,80,78,71,13,10,26,10 };
unsigned char *out,*o, *filt, *zlib;
signed char *line_buffer;
int j,zlen;
if (stride_bytes == 0)
stride_bytes = x * n;
if (force_filter >= 5) {
force_filter = -1;
}
filt = (unsigned char *) STBIW_MALLOC((x*n+1) * y); if (!filt) return 0;
line_buffer = (signed char *) STBIW_MALLOC(x * n); if (!line_buffer) { STBIW_FREE(filt); return 0; }
for (j=0; j < y; ++j) {
int filter_type;
if (force_filter > -1) {
filter_type = force_filter;
stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, force_filter, line_buffer);
} else { // Estimate the best filter by running through all of them:
int best_filter = 0, best_filter_val = 0x7fffffff, est, i;
for (filter_type = 0; filter_type < 5; filter_type++) {
stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, filter_type, line_buffer);
// Estimate the entropy of the line using this filter; the less, the better.
est = 0;
for (i = 0; i < x*n; ++i) {
est += abs((signed char) line_buffer[i]);
}
if (est < best_filter_val) {
best_filter_val = est;
best_filter = filter_type;
}
}
if (filter_type != best_filter) { // If the last iteration already got us the best filter, don't redo it
stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, best_filter, line_buffer);
filter_type = best_filter;
}
}
// when we get here, filter_type contains the filter type, and line_buffer contains the data
filt[j*(x*n+1)] = (unsigned char) filter_type;
STBIW_MEMMOVE(filt+j*(x*n+1)+1, line_buffer, x*n);
}
STBIW_FREE(line_buffer);
zlib = stbi_zlib_compress(filt, y*( x*n+1), &zlen, stbi_write_png_compression_level);
STBIW_FREE(filt);
if (!zlib) return 0;
// each tag requires 12 bytes of overhead
out = (unsigned char *) STBIW_MALLOC(8 + 12+13 + 12+zlen + 12);
if (!out) return 0;
*out_len = 8 + 12+13 + 12+zlen + 12;
o=out;
STBIW_MEMMOVE(o,sig,8); o+= 8;
stbiw__wp32(o, 13); // header length
stbiw__wptag(o, "IHDR");
stbiw__wp32(o, x);
stbiw__wp32(o, y);
*o++ = 8;
*o++ = STBIW_UCHAR(ctype[n]);
*o++ = 0;
*o++ = 0;
*o++ = 0;
stbiw__wpcrc(&o,13);
stbiw__wp32(o, zlen);
stbiw__wptag(o, "IDAT");
STBIW_MEMMOVE(o, zlib, zlen);
o += zlen;
STBIW_FREE(zlib);
stbiw__wpcrc(&o, zlen);
stbiw__wp32(o,0);
stbiw__wptag(o, "IEND");
stbiw__wpcrc(&o,0);
STBIW_ASSERT(o == out + *out_len);
return out;
}
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_png(char const *filename, int x, int y, int comp, const void *data, int stride_bytes)
{
FILE *f;
int len;
unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);
if (png == NULL) return 0;
f = stbiw__fopen(filename, "wb");
if (!f) { STBIW_FREE(png); return 0; }
fwrite(png, 1, len, f);
fclose(f);
STBIW_FREE(png);
return 1;
}
#endif
STBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int stride_bytes)
{
int len;
unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);
if (png == NULL) return 0;
func(context, png, len);
STBIW_FREE(png);
return 1;
}
/* ***************************************************************************
*
* JPEG writer
*
* This is based on Jon Olick's jo_jpeg.cpp:
* public domain Simple, Minimalistic JPEG writer - http://www.jonolick.com/code.html
*/
static const unsigned char stbiw__jpg_ZigZag[] = { 0,1,5,6,14,15,27,28,2,4,7,13,16,26,29,42,3,8,12,17,25,30,41,43,9,11,18,
24,31,40,44,53,10,19,23,32,39,45,52,54,20,22,33,38,46,51,55,60,21,34,37,47,50,56,59,61,35,36,48,49,57,58,62,63 };
static void stbiw__jpg_writeBits(stbi__write_context *s, int *bitBufP, int *bitCntP, const unsigned short *bs) {
int bitBuf = *bitBufP, bitCnt = *bitCntP;
bitCnt += bs[1];
bitBuf |= bs[0] << (24 - bitCnt);
while(bitCnt >= 8) {
unsigned char c = (bitBuf >> 16) & 255;
stbiw__putc(s, c);
if(c == 255) {
stbiw__putc(s, 0);
}
bitBuf <<= 8;
bitCnt -= 8;
}
*bitBufP = bitBuf;
*bitCntP = bitCnt;
}
static void stbiw__jpg_DCT(float *d0p, float *d1p, float *d2p, float *d3p, float *d4p, float *d5p, float *d6p, float *d7p) {
float d0 = *d0p, d1 = *d1p, d2 = *d2p, d3 = *d3p, d4 = *d4p, d5 = *d5p, d6 = *d6p, d7 = *d7p;
float z1, z2, z3, z4, z5, z11, z13;
float tmp0 = d0 + d7;
float tmp7 = d0 - d7;
float tmp1 = d1 + d6;
float tmp6 = d1 - d6;
float tmp2 = d2 + d5;
float tmp5 = d2 - d5;
float tmp3 = d3 + d4;
float tmp4 = d3 - d4;
// Even part
float tmp10 = tmp0 + tmp3; // phase 2
float tmp13 = tmp0 - tmp3;
float tmp11 = tmp1 + tmp2;
float tmp12 = tmp1 - tmp2;
d0 = tmp10 + tmp11; // phase 3
d4 = tmp10 - tmp11;
z1 = (tmp12 + tmp13) * 0.707106781f; // c4
d2 = tmp13 + z1; // phase 5
d6 = tmp13 - z1;
// Odd part
tmp10 = tmp4 + tmp5; // phase 2
tmp11 = tmp5 + tmp6;
tmp12 = tmp6 + tmp7;
// The rotator is modified from fig 4-8 to avoid extra negations.
z5 = (tmp10 - tmp12) * 0.382683433f; // c6
z2 = tmp10 * 0.541196100f + z5; // c2-c6
z4 = tmp12 * 1.306562965f + z5; // c2+c6
z3 = tmp11 * 0.707106781f; // c4
z11 = tmp7 + z3; // phase 5
z13 = tmp7 - z3;
*d5p = z13 + z2; // phase 6
*d3p = z13 - z2;
*d1p = z11 + z4;
*d7p = z11 - z4;
*d0p = d0; *d2p = d2; *d4p = d4; *d6p = d6;
}
static void stbiw__jpg_calcBits(int val, unsigned short bits[2]) {
int tmp1 = val < 0 ? -val : val;
val = val < 0 ? val-1 : val;
bits[1] = 1;
while(tmp1 >>= 1) {
++bits[1];
}
bits[0] = val & ((1<<bits[1])-1);
}
static int stbiw__jpg_processDU(stbi__write_context *s, int *bitBuf, int *bitCnt, float *CDU, int du_stride, float *fdtbl, int DC, const unsigned short HTDC[256][2], const unsigned short HTAC[256][2]) {
const unsigned short EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };
const unsigned short M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };
int dataOff, i, j, n, diff, end0pos, x, y;
int DU[64];
// DCT rows
for(dataOff=0, n=du_stride*8; dataOff<n; dataOff+=du_stride) {
stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+1], &CDU[dataOff+2], &CDU[dataOff+3], &CDU[dataOff+4], &CDU[dataOff+5], &CDU[dataOff+6], &CDU[dataOff+7]);
}
// DCT columns
for(dataOff=0; dataOff<8; ++dataOff) {
stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+du_stride], &CDU[dataOff+du_stride*2], &CDU[dataOff+du_stride*3], &CDU[dataOff+du_stride*4],
&CDU[dataOff+du_stride*5], &CDU[dataOff+du_stride*6], &CDU[dataOff+du_stride*7]);
}
// Quantize/descale/zigzag the coefficients
for(y = 0, j=0; y < 8; ++y) {
for(x = 0; x < 8; ++x,++j) {
float v;
i = y*du_stride+x;
v = CDU[i]*fdtbl[j];
// DU[stbiw__jpg_ZigZag[j]] = (int)(v < 0 ? ceilf(v - 0.5f) : floorf(v + 0.5f));
// ceilf() and floorf() are C99, not C89, but I /think/ they're not needed here anyway?
DU[stbiw__jpg_ZigZag[j]] = (int)(v < 0 ? v - 0.5f : v + 0.5f);
}
}
// Encode DC
diff = DU[0] - DC;
if (diff == 0) {
stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[0]);
} else {
unsigned short bits[2];
stbiw__jpg_calcBits(diff, bits);
stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[bits[1]]);
stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);
}
// Encode ACs
end0pos = 63;
for(; (end0pos>0)&&(DU[end0pos]==0); --end0pos) {
}
// end0pos = first element in reverse order !=0
if(end0pos == 0) {
stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);
return DU[0];
}
for(i = 1; i <= end0pos; ++i) {
int startpos = i;
int nrzeroes;
unsigned short bits[2];
for (; DU[i]==0 && i<=end0pos; ++i) {
}
nrzeroes = i-startpos;
if ( nrzeroes >= 16 ) {
int lng = nrzeroes>>4;
int nrmarker;
for (nrmarker=1; nrmarker <= lng; ++nrmarker)
stbiw__jpg_writeBits(s, bitBuf, bitCnt, M16zeroes);
nrzeroes &= 15;
}
stbiw__jpg_calcBits(DU[i], bits);
stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTAC[(nrzeroes<<4)+bits[1]]);
stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);
}
if(end0pos != 63) {
stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);
}
return DU[0];
}
static int stbi_write_jpg_core(stbi__write_context *s, int width, int height, int comp, const void* data, int quality) {
// Constants that don't pollute global namespace
static const unsigned char std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};
static const unsigned char std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};
static const unsigned char std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};
static const unsigned char std_ac_luminance_values[] = {
0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,
0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,
0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,
0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,
0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,
0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,
0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa
};
static const unsigned char std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};
static const unsigned char std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};
static const unsigned char std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};
static const unsigned char std_ac_chrominance_values[] = {
0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,
0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,
0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,
0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,
0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,
0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,
0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa
};
// Huffman tables
static const unsigned short YDC_HT[256][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};
static const unsigned short UVDC_HT[256][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};
static const unsigned short YAC_HT[256][2] = {
{10,4},{0,2},{1,2},{4,3},{11,4},{26,5},{120,7},{248,8},{1014,10},{65410,16},{65411,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{12,4},{27,5},{121,7},{502,9},{2038,11},{65412,16},{65413,16},{65414,16},{65415,16},{65416,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{28,5},{249,8},{1015,10},{4084,12},{65417,16},{65418,16},{65419,16},{65420,16},{65421,16},{65422,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{58,6},{503,9},{4085,12},{65423,16},{65424,16},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{59,6},{1016,10},{65430,16},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{122,7},{2039,11},{65438,16},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{123,7},{4086,12},{65446,16},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{250,8},{4087,12},{65454,16},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{504,9},{32704,15},{65462,16},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{505,9},{65470,16},{65471,16},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{506,9},{65479,16},{65480,16},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{1017,10},{65488,16},{65489,16},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{1018,10},{65497,16},{65498,16},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{2040,11},{65506,16},{65507,16},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{65515,16},{65516,16},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{0,0},{0,0},{0,0},{0,0},{0,0},
{2041,11},{65525,16},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}
};
static const unsigned short UVAC_HT[256][2] = {
{0,2},{1,2},{4,3},{10,4},{24,5},{25,5},{56,6},{120,7},{500,9},{1014,10},{4084,12},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{11,4},{57,6},{246,8},{501,9},{2038,11},{4085,12},{65416,16},{65417,16},{65418,16},{65419,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{26,5},{247,8},{1015,10},{4086,12},{32706,15},{65420,16},{65421,16},{65422,16},{65423,16},{65424,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{27,5},{248,8},{1016,10},{4087,12},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{65430,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{58,6},{502,9},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{65438,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{59,6},{1017,10},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{65446,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{121,7},{2039,11},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{65454,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{122,7},{2040,11},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{65462,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{249,8},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{65470,16},{65471,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{503,9},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{65479,16},{65480,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{504,9},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{65488,16},{65489,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{505,9},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{65497,16},{65498,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{506,9},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{65506,16},{65507,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{2041,11},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{65515,16},{65516,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},
{16352,14},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{65525,16},{0,0},{0,0},{0,0},{0,0},{0,0},
{1018,10},{32707,15},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}
};
static const int YQT[] = {16,11,10,16,24,40,51,61,12,12,14,19,26,58,60,55,14,13,16,24,40,57,69,56,14,17,22,29,51,87,80,62,18,22,
37,56,68,109,103,77,24,35,55,64,81,104,113,92,49,64,78,87,103,121,120,101,72,92,95,98,112,100,103,99};
static const int UVQT[] = {17,18,24,47,99,99,99,99,18,21,26,66,99,99,99,99,24,26,56,99,99,99,99,99,47,66,99,99,99,99,99,99,
99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99};
static const float aasf[] = { 1.0f * 2.828427125f, 1.387039845f * 2.828427125f, 1.306562965f * 2.828427125f, 1.175875602f * 2.828427125f,
1.0f * 2.828427125f, 0.785694958f * 2.828427125f, 0.541196100f * 2.828427125f, 0.275899379f * 2.828427125f };
int row, col, i, k, subsample;
float fdtbl_Y[64], fdtbl_UV[64];
unsigned char YTable[64], UVTable[64];
if(!data || !width || !height || comp > 4 || comp < 1) {
return 0;
}
quality = quality ? quality : 90;
subsample = quality <= 90 ? 1 : 0;
quality = quality < 1 ? 1 : quality > 100 ? 100 : quality;
quality = quality < 50 ? 5000 / quality : 200 - quality * 2;
for(i = 0; i < 64; ++i) {
int uvti, yti = (YQT[i]*quality+50)/100;
YTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (yti < 1 ? 1 : yti > 255 ? 255 : yti);
uvti = (UVQT[i]*quality+50)/100;
UVTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (uvti < 1 ? 1 : uvti > 255 ? 255 : uvti);
}
for(row = 0, k = 0; row < 8; ++row) {
for(col = 0; col < 8; ++col, ++k) {
fdtbl_Y[k] = 1 / (YTable [stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);
fdtbl_UV[k] = 1 / (UVTable[stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);
}
}
// Write Headers
{
static const unsigned char head0[] = { 0xFF,0xD8,0xFF,0xE0,0,0x10,'J','F','I','F',0,1,1,0,0,1,0,1,0,0,0xFF,0xDB,0,0x84,0 };
static const unsigned char head2[] = { 0xFF,0xDA,0,0xC,3,1,0,2,0x11,3,0x11,0,0x3F,0 };
const unsigned char head1[] = { 0xFF,0xC0,0,0x11,8,(unsigned char)(height>>8),STBIW_UCHAR(height),(unsigned char)(width>>8),STBIW_UCHAR(width),
3,1,(unsigned char)(subsample?0x22:0x11),0,2,0x11,1,3,0x11,1,0xFF,0xC4,0x01,0xA2,0 };
s->func(s->context, (void*)head0, sizeof(head0));
s->func(s->context, (void*)YTable, sizeof(YTable));
stbiw__putc(s, 1);
s->func(s->context, UVTable, sizeof(UVTable));
s->func(s->context, (void*)head1, sizeof(head1));
s->func(s->context, (void*)(std_dc_luminance_nrcodes+1), sizeof(std_dc_luminance_nrcodes)-1);
s->func(s->context, (void*)std_dc_luminance_values, sizeof(std_dc_luminance_values));
stbiw__putc(s, 0x10); // HTYACinfo
s->func(s->context, (void*)(std_ac_luminance_nrcodes+1), sizeof(std_ac_luminance_nrcodes)-1);
s->func(s->context, (void*)std_ac_luminance_values, sizeof(std_ac_luminance_values));
stbiw__putc(s, 1); // HTUDCinfo
s->func(s->context, (void*)(std_dc_chrominance_nrcodes+1), sizeof(std_dc_chrominance_nrcodes)-1);
s->func(s->context, (void*)std_dc_chrominance_values, sizeof(std_dc_chrominance_values));
stbiw__putc(s, 0x11); // HTUACinfo
s->func(s->context, (void*)(std_ac_chrominance_nrcodes+1), sizeof(std_ac_chrominance_nrcodes)-1);
s->func(s->context, (void*)std_ac_chrominance_values, sizeof(std_ac_chrominance_values));
s->func(s->context, (void*)head2, sizeof(head2));
}
// Encode 8x8 macroblocks
{
static const unsigned short fillBits[] = {0x7F, 7};
int DCY=0, DCU=0, DCV=0;
int bitBuf=0, bitCnt=0;
// comp == 2 is grey+alpha (alpha is ignored)
int ofsG = comp > 2 ? 1 : 0, ofsB = comp > 2 ? 2 : 0;
const unsigned char *dataR = (const unsigned char *)data;
const unsigned char *dataG = dataR + ofsG;
const unsigned char *dataB = dataR + ofsB;
int x, y, pos;
if(subsample) {
for(y = 0; y < height; y += 16) {
for(x = 0; x < width; x += 16) {
float Y[256], U[256], V[256];
for(row = y, pos = 0; row < y+16; ++row) {
// row >= height => use last input row
int clamped_row = (row < height) ? row : height - 1;
int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;
for(col = x; col < x+16; ++col, ++pos) {
// if col >= width => use pixel from last input column
int p = base_p + ((col < width) ? col : (width-1))*comp;
float r = dataR[p], g = dataG[p], b = dataB[p];
Y[pos]= +0.29900f*r + 0.58700f*g + 0.11400f*b - 128;
U[pos]= -0.16874f*r - 0.33126f*g + 0.50000f*b;
V[pos]= +0.50000f*r - 0.41869f*g - 0.08131f*b;
}
}
DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, Y+0, 16, fdtbl_Y, DCY, YDC_HT, YAC_HT);
DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, Y+8, 16, fdtbl_Y, DCY, YDC_HT, YAC_HT);
DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, Y+128, 16, fdtbl_Y, DCY, YDC_HT, YAC_HT);
DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, Y+136, 16, fdtbl_Y, DCY, YDC_HT, YAC_HT);
// subsample U,V
{
float subU[64], subV[64];
int yy, xx;
for(yy = 0, pos = 0; yy < 8; ++yy) {
for(xx = 0; xx < 8; ++xx, ++pos) {
int j = yy*32+xx*2;
subU[pos] = (U[j+0] + U[j+1] + U[j+16] + U[j+17]) * 0.25f;
subV[pos] = (V[j+0] + V[j+1] + V[j+16] + V[j+17]) * 0.25f;
}
}
DCU = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, subU, 8, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);
DCV = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, subV, 8, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);
}
}
}
} else {
for(y = 0; y < height; y += 8) {
for(x = 0; x < width; x += 8) {
float Y[64], U[64], V[64];
for(row = y, pos = 0; row < y+8; ++row) {
// row >= height => use last input row
int clamped_row = (row < height) ? row : height - 1;
int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;
for(col = x; col < x+8; ++col, ++pos) {
// if col >= width => use pixel from last input column
int p = base_p + ((col < width) ? col : (width-1))*comp;
float r = dataR[p], g = dataG[p], b = dataB[p];
Y[pos]= +0.29900f*r + 0.58700f*g + 0.11400f*b - 128;
U[pos]= -0.16874f*r - 0.33126f*g + 0.50000f*b;
V[pos]= +0.50000f*r - 0.41869f*g - 0.08131f*b;
}
}
DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, Y, 8, fdtbl_Y, DCY, YDC_HT, YAC_HT);
DCU = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, U, 8, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);
DCV = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, V, 8, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);
}
}
}
// Do the bit alignment of the EOI marker
stbiw__jpg_writeBits(s, &bitBuf, &bitCnt, fillBits);
}
// EOI
stbiw__putc(s, 0xFF);
stbiw__putc(s, 0xD9);
return 1;
}
STBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality)
{
stbi__write_context s = { 0 };
stbi__start_write_callbacks(&s, func, context);
return stbi_write_jpg_core(&s, x, y, comp, (void *) data, quality);
}
#ifndef STBI_WRITE_NO_STDIO
STBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality)
{
stbi__write_context s = { 0 };
if (stbi__start_write_file(&s,filename)) {
int r = stbi_write_jpg_core(&s, x, y, comp, data, quality);
stbi__end_write_file(&s);
return r;
} else
return 0;
}
#endif
#endif // STB_IMAGE_WRITE_IMPLEMENTATION
/* Revision history
1.14 (2020-02-02) updated JPEG writer to downsample chroma channels
1.13
1.12
1.11 (2019-08-11)
1.10 (2019-02-07)
support utf8 filenames in Windows; fix warnings and platform ifdefs
1.09 (2018-02-11)
fix typo in zlib quality API, improve STB_I_W_STATIC in C++
1.08 (2018-01-29)
add stbi__flip_vertically_on_write, external zlib, zlib quality, choose PNG filter
1.07 (2017-07-24)
doc fix
1.06 (2017-07-23)
writing JPEG (using Jon Olick's code)
1.05 ???
1.04 (2017-03-03)
monochrome BMP expansion
1.03 ???
1.02 (2016-04-02)
avoid allocating large structures on the stack
1.01 (2016-01-16)
STBIW_REALLOC_SIZED: support allocators with no realloc support
avoid race-condition in crc initialization
minor compile issues
1.00 (2015-09-14)
installable file IO function
0.99 (2015-09-13)
warning fixes; TGA rle support
0.98 (2015-04-08)
added STBIW_MALLOC, STBIW_ASSERT etc
0.97 (2015-01-18)
fixed HDR asserts, rewrote HDR rle logic
0.96 (2015-01-17)
add HDR output
fix monochrome BMP
0.95 (2014-08-17)
add monochrome TGA output
0.94 (2014-05-31)
rename private functions to avoid conflicts with stb_image.h
0.93 (2014-05-27)
warning fixes
0.92 (2010-08-01)
casts to unsigned char to fix warnings
0.91 (2010-07-17)
first public release
0.90 first internal release
*/
/*
------------------------------------------------------------------------------
This software is available under 2 licenses -- choose whichever you prefer.
------------------------------------------------------------------------------
ALTERNATIVE A - MIT License
Copyright (c) 2017 Sean Barrett
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
------------------------------------------------------------------------------
ALTERNATIVE B - Public Domain (www.unlicense.org)
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
commercial or non-commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
------------------------------------------------------------------------------
*/
| 69,565 | C | 40.138971 | 205 | 0.587364 |
NVIDIA-Omniverse/AnariUsdDevice/thirdparty/stb_image/stb_image_resize.h | /* stb_image_resize - v0.96 - public domain image resizing
by Jorge L Rodriguez (@VinoBS) - 2014
http://github.com/nothings/stb
Written with emphasis on usability, portability, and efficiency. (No
SIMD or threads, so it be easily outperformed by libs that use those.)
Only scaling and translation is supported, no rotations or shears.
Easy API downsamples w/Mitchell filter, upsamples w/cubic interpolation.
COMPILING & LINKING
In one C/C++ file that #includes this file, do this:
#define STB_IMAGE_RESIZE_IMPLEMENTATION
before the #include. That will create the implementation in that file.
QUICKSTART
stbir_resize_uint8( input_pixels , in_w , in_h , 0,
output_pixels, out_w, out_h, 0, num_channels)
stbir_resize_float(...)
stbir_resize_uint8_srgb( input_pixels , in_w , in_h , 0,
output_pixels, out_w, out_h, 0,
num_channels , alpha_chan , 0)
stbir_resize_uint8_srgb_edgemode(
input_pixels , in_w , in_h , 0,
output_pixels, out_w, out_h, 0,
num_channels , alpha_chan , 0, STBIR_EDGE_CLAMP)
// WRAP/REFLECT/ZERO
FULL API
See the "header file" section of the source for API documentation.
ADDITIONAL DOCUMENTATION
SRGB & FLOATING POINT REPRESENTATION
The sRGB functions presume IEEE floating point. If you do not have
IEEE floating point, define STBIR_NON_IEEE_FLOAT. This will use
a slower implementation.
MEMORY ALLOCATION
The resize functions here perform a single memory allocation using
malloc. To control the memory allocation, before the #include that
triggers the implementation, do:
#define STBIR_MALLOC(size,context) ...
#define STBIR_FREE(ptr,context) ...
Each resize function makes exactly one call to malloc/free, so to use
temp memory, store the temp memory in the context and return that.
ASSERT
Define STBIR_ASSERT(boolval) to override assert() and not use assert.h
OPTIMIZATION
Define STBIR_SATURATE_INT to compute clamp values in-range using
integer operations instead of float operations. This may be faster
on some platforms.
DEFAULT FILTERS
For functions which don't provide explicit control over what filters
to use, you can change the compile-time defaults with
#define STBIR_DEFAULT_FILTER_UPSAMPLE STBIR_FILTER_something
#define STBIR_DEFAULT_FILTER_DOWNSAMPLE STBIR_FILTER_something
See stbir_filter in the header-file section for the list of filters.
NEW FILTERS
A number of 1D filter kernels are used. For a list of
supported filters see the stbir_filter enum. To add a new filter,
write a filter function and add it to stbir__filter_info_table.
PROGRESS
For interactive use with slow resize operations, you can install
a progress-report callback:
#define STBIR_PROGRESS_REPORT(val) some_func(val)
The parameter val is a float which goes from 0 to 1 as progress is made.
For example:
static void my_progress_report(float progress);
#define STBIR_PROGRESS_REPORT(val) my_progress_report(val)
#define STB_IMAGE_RESIZE_IMPLEMENTATION
#include "stb_image_resize.h"
static void my_progress_report(float progress)
{
printf("Progress: %f%%\n", progress*100);
}
MAX CHANNELS
If your image has more than 64 channels, define STBIR_MAX_CHANNELS
to the max you'll have.
ALPHA CHANNEL
Most of the resizing functions provide the ability to control how
the alpha channel of an image is processed. The important things
to know about this:
1. The best mathematically-behaved version of alpha to use is
called "premultiplied alpha", in which the other color channels
have had the alpha value multiplied in. If you use premultiplied
alpha, linear filtering (such as image resampling done by this
library, or performed in texture units on GPUs) does the "right
thing". While premultiplied alpha is standard in the movie CGI
industry, it is still uncommon in the videogame/real-time world.
If you linearly filter non-premultiplied alpha, strange effects
occur. (For example, the 50/50 average of 99% transparent bright green
and 1% transparent black produces 50% transparent dark green when
non-premultiplied, whereas premultiplied it produces 50%
transparent near-black. The former introduces green energy
that doesn't exist in the source image.)
2. Artists should not edit premultiplied-alpha images; artists
want non-premultiplied alpha images. Thus, art tools generally output
non-premultiplied alpha images.
3. You will get best results in most cases by converting images
to premultiplied alpha before processing them mathematically.
4. If you pass the flag STBIR_FLAG_ALPHA_PREMULTIPLIED, the
resizer does not do anything special for the alpha channel;
it is resampled identically to other channels. This produces
the correct results for premultiplied-alpha images, but produces
less-than-ideal results for non-premultiplied-alpha images.
5. If you do not pass the flag STBIR_FLAG_ALPHA_PREMULTIPLIED,
then the resizer weights the contribution of input pixels
based on their alpha values, or, equivalently, it multiplies
the alpha value into the color channels, resamples, then divides
by the resultant alpha value. Input pixels which have alpha=0 do
not contribute at all to output pixels unless _all_ of the input
pixels affecting that output pixel have alpha=0, in which case
the result for that pixel is the same as it would be without
STBIR_FLAG_ALPHA_PREMULTIPLIED. However, this is only true for
input images in integer formats. For input images in float format,
input pixels with alpha=0 have no effect, and output pixels
which have alpha=0 will be 0 in all channels. (For float images,
you can manually achieve the same result by adding a tiny epsilon
value to the alpha channel of every image, and then subtracting
or clamping it at the end.)
6. You can suppress the behavior described in #5 and make
all-0-alpha pixels have 0 in all channels by #defining
STBIR_NO_ALPHA_EPSILON.
7. You can separately control whether the alpha channel is
interpreted as linear or affected by the colorspace. By default
it is linear; you almost never want to apply the colorspace.
(For example, graphics hardware does not apply sRGB conversion
to the alpha channel.)
CONTRIBUTORS
Jorge L Rodriguez: Implementation
Sean Barrett: API design, optimizations
Aras Pranckevicius: bugfix
Nathan Reed: warning fixes
REVISIONS
0.97 (2020-02-02) fixed warning
0.96 (2019-03-04) fixed warnings
0.95 (2017-07-23) fixed warnings
0.94 (2017-03-18) fixed warnings
0.93 (2017-03-03) fixed bug with certain combinations of heights
0.92 (2017-01-02) fix integer overflow on large (>2GB) images
0.91 (2016-04-02) fix warnings; fix handling of subpixel regions
0.90 (2014-09-17) first released version
LICENSE
See end of file for license information.
TODO
Don't decode all of the image data when only processing a partial tile
Don't use full-width decode buffers when only processing a partial tile
When processing wide images, break processing into tiles so data fits in L1 cache
Installable filters?
Resize that respects alpha test coverage
(Reference code: FloatImage::alphaTestCoverage and FloatImage::scaleAlphaToCoverage:
https://code.google.com/p/nvidia-texture-tools/source/browse/trunk/src/nvimage/FloatImage.cpp )
*/
#ifndef STBIR_INCLUDE_STB_IMAGE_RESIZE_H
#define STBIR_INCLUDE_STB_IMAGE_RESIZE_H
#ifdef _MSC_VER
typedef unsigned char stbir_uint8;
typedef unsigned short stbir_uint16;
typedef unsigned int stbir_uint32;
#else
#include <stdint.h>
typedef uint8_t stbir_uint8;
typedef uint16_t stbir_uint16;
typedef uint32_t stbir_uint32;
#endif
#ifndef STBIRDEF
#ifdef STB_IMAGE_RESIZE_STATIC
#define STBIRDEF static
#else
#ifdef __cplusplus
#define STBIRDEF extern "C"
#else
#define STBIRDEF extern
#endif
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
//
// Easy-to-use API:
//
// * "input pixels" points to an array of image data with 'num_channels' channels (e.g. RGB=3, RGBA=4)
// * input_w is input image width (x-axis), input_h is input image height (y-axis)
// * stride is the offset between successive rows of image data in memory, in bytes. you can
// specify 0 to mean packed continuously in memory
// * alpha channel is treated identically to other channels.
// * colorspace is linear or sRGB as specified by function name
// * returned result is 1 for success or 0 in case of an error.
// #define STBIR_ASSERT() to trigger an assert on parameter validation errors.
// * Memory required grows approximately linearly with input and output size, but with
// discontinuities at input_w == output_w and input_h == output_h.
// * These functions use a "default" resampling filter defined at compile time. To change the filter,
// you can change the compile-time defaults by #defining STBIR_DEFAULT_FILTER_UPSAMPLE
// and STBIR_DEFAULT_FILTER_DOWNSAMPLE, or you can use the medium-complexity API.
STBIRDEF int stbir_resize_uint8( const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels);
STBIRDEF int stbir_resize_float( const float *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
float *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels);
// The following functions interpret image data as gamma-corrected sRGB.
// Specify STBIR_ALPHA_CHANNEL_NONE if you have no alpha channel,
// or otherwise provide the index of the alpha channel. Flags value
// of 0 will probably do the right thing if you're not sure what
// the flags mean.
#define STBIR_ALPHA_CHANNEL_NONE -1
// Set this flag if your texture has premultiplied alpha. Otherwise, stbir will
// use alpha-weighted resampling (effectively premultiplying, resampling,
// then unpremultiplying).
#define STBIR_FLAG_ALPHA_PREMULTIPLIED (1 << 0)
// The specified alpha channel should be handled as gamma-corrected value even
// when doing sRGB operations.
#define STBIR_FLAG_ALPHA_USES_COLORSPACE (1 << 1)
STBIRDEF int stbir_resize_uint8_srgb(const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags);
typedef enum
{
STBIR_EDGE_CLAMP = 1,
STBIR_EDGE_REFLECT = 2,
STBIR_EDGE_WRAP = 3,
STBIR_EDGE_ZERO = 4,
} stbir_edge;
// This function adds the ability to specify how requests to sample off the edge of the image are handled.
STBIRDEF int stbir_resize_uint8_srgb_edgemode(const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode);
//////////////////////////////////////////////////////////////////////////////
//
// Medium-complexity API
//
// This extends the easy-to-use API as follows:
//
// * Alpha-channel can be processed separately
// * If alpha_channel is not STBIR_ALPHA_CHANNEL_NONE
// * Alpha channel will not be gamma corrected (unless flags&STBIR_FLAG_GAMMA_CORRECT)
// * Filters will be weighted by alpha channel (unless flags&STBIR_FLAG_ALPHA_PREMULTIPLIED)
// * Filter can be selected explicitly
// * uint16 image type
// * sRGB colorspace available for all types
// * context parameter for passing to STBIR_MALLOC
typedef enum
{
STBIR_FILTER_DEFAULT = 0, // use same filter type that easy-to-use API chooses
STBIR_FILTER_BOX = 1, // A trapezoid w/1-pixel wide ramps, same result as box for integer scale ratios
STBIR_FILTER_TRIANGLE = 2, // On upsampling, produces same results as bilinear texture filtering
STBIR_FILTER_CUBICBSPLINE = 3, // The cubic b-spline (aka Mitchell-Netrevalli with B=1,C=0), gaussian-esque
STBIR_FILTER_CATMULLROM = 4, // An interpolating cubic spline
STBIR_FILTER_MITCHELL = 5, // Mitchell-Netrevalli filter with B=1/3, C=1/3
} stbir_filter;
typedef enum
{
STBIR_COLORSPACE_LINEAR,
STBIR_COLORSPACE_SRGB,
STBIR_MAX_COLORSPACES,
} stbir_colorspace;
// The following functions are all identical except for the type of the image data
STBIRDEF int stbir_resize_uint8_generic( const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context);
STBIRDEF int stbir_resize_uint16_generic(const stbir_uint16 *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
stbir_uint16 *output_pixels , int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context);
STBIRDEF int stbir_resize_float_generic( const float *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
float *output_pixels , int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context);
//////////////////////////////////////////////////////////////////////////////
//
// Full-complexity API
//
// This extends the medium API as follows:
//
// * uint32 image type
// * not typesafe
// * separate filter types for each axis
// * separate edge modes for each axis
// * can specify scale explicitly for subpixel correctness
// * can specify image source tile using texture coordinates
typedef enum
{
STBIR_TYPE_UINT8 ,
STBIR_TYPE_UINT16,
STBIR_TYPE_UINT32,
STBIR_TYPE_FLOAT ,
STBIR_MAX_TYPES
} stbir_datatype;
STBIRDEF int stbir_resize( const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context);
STBIRDEF int stbir_resize_subpixel(const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context,
float x_scale, float y_scale,
float x_offset, float y_offset);
STBIRDEF int stbir_resize_region( const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context,
float s0, float t0, float s1, float t1);
// (s0, t0) & (s1, t1) are the top-left and bottom right corner (uv addressing style: [0, 1]x[0, 1]) of a region of the input image to use.
//
//
//// end header file /////////////////////////////////////////////////////
#endif // STBIR_INCLUDE_STB_IMAGE_RESIZE_H
#ifdef STB_IMAGE_RESIZE_IMPLEMENTATION
#ifndef STBIR_ASSERT
#include <assert.h>
#define STBIR_ASSERT(x) assert(x)
#endif
// For memset
#include <string.h>
#include <math.h>
#ifndef STBIR_MALLOC
#include <stdlib.h>
// use comma operator to evaluate c, to avoid "unused parameter" warnings
#define STBIR_MALLOC(size,c) ((void)(c), malloc(size))
#define STBIR_FREE(ptr,c) ((void)(c), free(ptr))
#endif
#ifndef _MSC_VER
#ifdef __cplusplus
#define stbir__inline inline
#else
#define stbir__inline
#endif
#else
#define stbir__inline __forceinline
#endif
// should produce compiler error if size is wrong
typedef unsigned char stbir__validate_uint32[sizeof(stbir_uint32) == 4 ? 1 : -1];
#ifdef _MSC_VER
#define STBIR__NOTUSED(v) (void)(v)
#else
#define STBIR__NOTUSED(v) (void)sizeof(v)
#endif
#define STBIR__ARRAY_SIZE(a) (sizeof((a))/sizeof((a)[0]))
#ifndef STBIR_DEFAULT_FILTER_UPSAMPLE
#define STBIR_DEFAULT_FILTER_UPSAMPLE STBIR_FILTER_CATMULLROM
#endif
#ifndef STBIR_DEFAULT_FILTER_DOWNSAMPLE
#define STBIR_DEFAULT_FILTER_DOWNSAMPLE STBIR_FILTER_MITCHELL
#endif
#ifndef STBIR_PROGRESS_REPORT
#define STBIR_PROGRESS_REPORT(float_0_to_1)
#endif
#ifndef STBIR_MAX_CHANNELS
#define STBIR_MAX_CHANNELS 64
#endif
#if STBIR_MAX_CHANNELS > 65536
#error "Too many channels; STBIR_MAX_CHANNELS must be no more than 65536."
// because we store the indices in 16-bit variables
#endif
// This value is added to alpha just before premultiplication to avoid
// zeroing out color values. It is equivalent to 2^-80. If you don't want
// that behavior (it may interfere if you have floating point images with
// very small alpha values) then you can define STBIR_NO_ALPHA_EPSILON to
// disable it.
#ifndef STBIR_ALPHA_EPSILON
#define STBIR_ALPHA_EPSILON ((float)1 / (1 << 20) / (1 << 20) / (1 << 20) / (1 << 20))
#endif
#ifdef _MSC_VER
#define STBIR__UNUSED_PARAM(v) (void)(v)
#else
#define STBIR__UNUSED_PARAM(v) (void)sizeof(v)
#endif
// must match stbir_datatype
static unsigned char stbir__type_size[] = {
1, // STBIR_TYPE_UINT8
2, // STBIR_TYPE_UINT16
4, // STBIR_TYPE_UINT32
4, // STBIR_TYPE_FLOAT
};
// Kernel function centered at 0
typedef float (stbir__kernel_fn)(float x, float scale);
typedef float (stbir__support_fn)(float scale);
typedef struct
{
stbir__kernel_fn* kernel;
stbir__support_fn* support;
} stbir__filter_info;
// When upsampling, the contributors are which source pixels contribute.
// When downsampling, the contributors are which destination pixels are contributed to.
typedef struct
{
int n0; // First contributing pixel
int n1; // Last contributing pixel
} stbir__contributors;
typedef struct
{
const void* input_data;
int input_w;
int input_h;
int input_stride_bytes;
void* output_data;
int output_w;
int output_h;
int output_stride_bytes;
float s0, t0, s1, t1;
float horizontal_shift; // Units: output pixels
float vertical_shift; // Units: output pixels
float horizontal_scale;
float vertical_scale;
int channels;
int alpha_channel;
stbir_uint32 flags;
stbir_datatype type;
stbir_filter horizontal_filter;
stbir_filter vertical_filter;
stbir_edge edge_horizontal;
stbir_edge edge_vertical;
stbir_colorspace colorspace;
stbir__contributors* horizontal_contributors;
float* horizontal_coefficients;
stbir__contributors* vertical_contributors;
float* vertical_coefficients;
int decode_buffer_pixels;
float* decode_buffer;
float* horizontal_buffer;
// cache these because ceil/floor are inexplicably showing up in profile
int horizontal_coefficient_width;
int vertical_coefficient_width;
int horizontal_filter_pixel_width;
int vertical_filter_pixel_width;
int horizontal_filter_pixel_margin;
int vertical_filter_pixel_margin;
int horizontal_num_contributors;
int vertical_num_contributors;
int ring_buffer_length_bytes; // The length of an individual entry in the ring buffer. The total number of ring buffers is stbir__get_filter_pixel_width(filter)
int ring_buffer_num_entries; // Total number of entries in the ring buffer.
int ring_buffer_first_scanline;
int ring_buffer_last_scanline;
int ring_buffer_begin_index; // first_scanline is at this index in the ring buffer
float* ring_buffer;
float* encode_buffer; // A temporary buffer to store floats so we don't lose precision while we do multiply-adds.
int horizontal_contributors_size;
int horizontal_coefficients_size;
int vertical_contributors_size;
int vertical_coefficients_size;
int decode_buffer_size;
int horizontal_buffer_size;
int ring_buffer_size;
int encode_buffer_size;
} stbir__info;
static const float stbir__max_uint8_as_float = 255.0f;
static const float stbir__max_uint16_as_float = 65535.0f;
static const double stbir__max_uint32_as_float = 4294967295.0;
static stbir__inline int stbir__min(int a, int b)
{
return a < b ? a : b;
}
static stbir__inline float stbir__saturate(float x)
{
if (x < 0)
return 0;
if (x > 1)
return 1;
return x;
}
#ifdef STBIR_SATURATE_INT
static stbir__inline stbir_uint8 stbir__saturate8(int x)
{
if ((unsigned int) x <= 255)
return x;
if (x < 0)
return 0;
return 255;
}
static stbir__inline stbir_uint16 stbir__saturate16(int x)
{
if ((unsigned int) x <= 65535)
return x;
if (x < 0)
return 0;
return 65535;
}
#endif
static float stbir__srgb_uchar_to_linear_float[256] = {
0.000000f, 0.000304f, 0.000607f, 0.000911f, 0.001214f, 0.001518f, 0.001821f, 0.002125f, 0.002428f, 0.002732f, 0.003035f,
0.003347f, 0.003677f, 0.004025f, 0.004391f, 0.004777f, 0.005182f, 0.005605f, 0.006049f, 0.006512f, 0.006995f, 0.007499f,
0.008023f, 0.008568f, 0.009134f, 0.009721f, 0.010330f, 0.010960f, 0.011612f, 0.012286f, 0.012983f, 0.013702f, 0.014444f,
0.015209f, 0.015996f, 0.016807f, 0.017642f, 0.018500f, 0.019382f, 0.020289f, 0.021219f, 0.022174f, 0.023153f, 0.024158f,
0.025187f, 0.026241f, 0.027321f, 0.028426f, 0.029557f, 0.030713f, 0.031896f, 0.033105f, 0.034340f, 0.035601f, 0.036889f,
0.038204f, 0.039546f, 0.040915f, 0.042311f, 0.043735f, 0.045186f, 0.046665f, 0.048172f, 0.049707f, 0.051269f, 0.052861f,
0.054480f, 0.056128f, 0.057805f, 0.059511f, 0.061246f, 0.063010f, 0.064803f, 0.066626f, 0.068478f, 0.070360f, 0.072272f,
0.074214f, 0.076185f, 0.078187f, 0.080220f, 0.082283f, 0.084376f, 0.086500f, 0.088656f, 0.090842f, 0.093059f, 0.095307f,
0.097587f, 0.099899f, 0.102242f, 0.104616f, 0.107023f, 0.109462f, 0.111932f, 0.114435f, 0.116971f, 0.119538f, 0.122139f,
0.124772f, 0.127438f, 0.130136f, 0.132868f, 0.135633f, 0.138432f, 0.141263f, 0.144128f, 0.147027f, 0.149960f, 0.152926f,
0.155926f, 0.158961f, 0.162029f, 0.165132f, 0.168269f, 0.171441f, 0.174647f, 0.177888f, 0.181164f, 0.184475f, 0.187821f,
0.191202f, 0.194618f, 0.198069f, 0.201556f, 0.205079f, 0.208637f, 0.212231f, 0.215861f, 0.219526f, 0.223228f, 0.226966f,
0.230740f, 0.234551f, 0.238398f, 0.242281f, 0.246201f, 0.250158f, 0.254152f, 0.258183f, 0.262251f, 0.266356f, 0.270498f,
0.274677f, 0.278894f, 0.283149f, 0.287441f, 0.291771f, 0.296138f, 0.300544f, 0.304987f, 0.309469f, 0.313989f, 0.318547f,
0.323143f, 0.327778f, 0.332452f, 0.337164f, 0.341914f, 0.346704f, 0.351533f, 0.356400f, 0.361307f, 0.366253f, 0.371238f,
0.376262f, 0.381326f, 0.386430f, 0.391573f, 0.396755f, 0.401978f, 0.407240f, 0.412543f, 0.417885f, 0.423268f, 0.428691f,
0.434154f, 0.439657f, 0.445201f, 0.450786f, 0.456411f, 0.462077f, 0.467784f, 0.473532f, 0.479320f, 0.485150f, 0.491021f,
0.496933f, 0.502887f, 0.508881f, 0.514918f, 0.520996f, 0.527115f, 0.533276f, 0.539480f, 0.545725f, 0.552011f, 0.558340f,
0.564712f, 0.571125f, 0.577581f, 0.584078f, 0.590619f, 0.597202f, 0.603827f, 0.610496f, 0.617207f, 0.623960f, 0.630757f,
0.637597f, 0.644480f, 0.651406f, 0.658375f, 0.665387f, 0.672443f, 0.679543f, 0.686685f, 0.693872f, 0.701102f, 0.708376f,
0.715694f, 0.723055f, 0.730461f, 0.737911f, 0.745404f, 0.752942f, 0.760525f, 0.768151f, 0.775822f, 0.783538f, 0.791298f,
0.799103f, 0.806952f, 0.814847f, 0.822786f, 0.830770f, 0.838799f, 0.846873f, 0.854993f, 0.863157f, 0.871367f, 0.879622f,
0.887923f, 0.896269f, 0.904661f, 0.913099f, 0.921582f, 0.930111f, 0.938686f, 0.947307f, 0.955974f, 0.964686f, 0.973445f,
0.982251f, 0.991102f, 1.0f
};
static float stbir__srgb_to_linear(float f)
{
if (f <= 0.04045f)
return f / 12.92f;
else
return (float)pow((f + 0.055f) / 1.055f, 2.4f);
}
static float stbir__linear_to_srgb(float f)
{
if (f <= 0.0031308f)
return f * 12.92f;
else
return 1.055f * (float)pow(f, 1 / 2.4f) - 0.055f;
}
#ifndef STBIR_NON_IEEE_FLOAT
// From https://gist.github.com/rygorous/2203834
typedef union
{
stbir_uint32 u;
float f;
} stbir__FP32;
static const stbir_uint32 fp32_to_srgb8_tab4[104] = {
0x0073000d, 0x007a000d, 0x0080000d, 0x0087000d, 0x008d000d, 0x0094000d, 0x009a000d, 0x00a1000d,
0x00a7001a, 0x00b4001a, 0x00c1001a, 0x00ce001a, 0x00da001a, 0x00e7001a, 0x00f4001a, 0x0101001a,
0x010e0033, 0x01280033, 0x01410033, 0x015b0033, 0x01750033, 0x018f0033, 0x01a80033, 0x01c20033,
0x01dc0067, 0x020f0067, 0x02430067, 0x02760067, 0x02aa0067, 0x02dd0067, 0x03110067, 0x03440067,
0x037800ce, 0x03df00ce, 0x044600ce, 0x04ad00ce, 0x051400ce, 0x057b00c5, 0x05dd00bc, 0x063b00b5,
0x06970158, 0x07420142, 0x07e30130, 0x087b0120, 0x090b0112, 0x09940106, 0x0a1700fc, 0x0a9500f2,
0x0b0f01cb, 0x0bf401ae, 0x0ccb0195, 0x0d950180, 0x0e56016e, 0x0f0d015e, 0x0fbc0150, 0x10630143,
0x11070264, 0x1238023e, 0x1357021d, 0x14660201, 0x156601e9, 0x165a01d3, 0x174401c0, 0x182401af,
0x18fe0331, 0x1a9602fe, 0x1c1502d2, 0x1d7e02ad, 0x1ed4028d, 0x201a0270, 0x21520256, 0x227d0240,
0x239f0443, 0x25c003fe, 0x27bf03c4, 0x29a10392, 0x2b6a0367, 0x2d1d0341, 0x2ebe031f, 0x304d0300,
0x31d105b0, 0x34a80555, 0x37520507, 0x39d504c5, 0x3c37048b, 0x3e7c0458, 0x40a8042a, 0x42bd0401,
0x44c20798, 0x488e071e, 0x4c1c06b6, 0x4f76065d, 0x52a50610, 0x55ac05cc, 0x5892058f, 0x5b590559,
0x5e0c0a23, 0x631c0980, 0x67db08f6, 0x6c55087f, 0x70940818, 0x74a007bd, 0x787d076c, 0x7c330723,
};
static stbir_uint8 stbir__linear_to_srgb_uchar(float in)
{
static const stbir__FP32 almostone = { 0x3f7fffff }; // 1-eps
static const stbir__FP32 minval = { (127-13) << 23 };
stbir_uint32 tab,bias,scale,t;
stbir__FP32 f;
// Clamp to [2^(-13), 1-eps]; these two values map to 0 and 1, respectively.
// The tests are carefully written so that NaNs map to 0, same as in the reference
// implementation.
if (!(in > minval.f)) // written this way to catch NaNs
in = minval.f;
if (in > almostone.f)
in = almostone.f;
// Do the table lookup and unpack bias, scale
f.f = in;
tab = fp32_to_srgb8_tab4[(f.u - minval.u) >> 20];
bias = (tab >> 16) << 9;
scale = tab & 0xffff;
// Grab next-highest mantissa bits and perform linear interpolation
t = (f.u >> 12) & 0xff;
return (unsigned char) ((bias + scale*t) >> 16);
}
#else
// sRGB transition values, scaled by 1<<28
static int stbir__srgb_offset_to_linear_scaled[256] =
{
0, 40738, 122216, 203693, 285170, 366648, 448125, 529603,
611080, 692557, 774035, 855852, 942009, 1033024, 1128971, 1229926,
1335959, 1447142, 1563542, 1685229, 1812268, 1944725, 2082664, 2226148,
2375238, 2529996, 2690481, 2856753, 3028870, 3206888, 3390865, 3580856,
3776916, 3979100, 4187460, 4402049, 4622919, 4850123, 5083710, 5323731,
5570236, 5823273, 6082892, 6349140, 6622065, 6901714, 7188133, 7481369,
7781466, 8088471, 8402427, 8723380, 9051372, 9386448, 9728650, 10078021,
10434603, 10798439, 11169569, 11548036, 11933879, 12327139, 12727857, 13136073,
13551826, 13975156, 14406100, 14844697, 15290987, 15745007, 16206795, 16676389,
17153826, 17639142, 18132374, 18633560, 19142734, 19659934, 20185196, 20718552,
21260042, 21809696, 22367554, 22933648, 23508010, 24090680, 24681686, 25281066,
25888850, 26505076, 27129772, 27762974, 28404716, 29055026, 29713942, 30381490,
31057708, 31742624, 32436272, 33138682, 33849884, 34569912, 35298800, 36036568,
36783260, 37538896, 38303512, 39077136, 39859796, 40651528, 41452360, 42262316,
43081432, 43909732, 44747252, 45594016, 46450052, 47315392, 48190064, 49074096,
49967516, 50870356, 51782636, 52704392, 53635648, 54576432, 55526772, 56486700,
57456236, 58435408, 59424248, 60422780, 61431036, 62449032, 63476804, 64514376,
65561776, 66619028, 67686160, 68763192, 69850160, 70947088, 72053992, 73170912,
74297864, 75434880, 76581976, 77739184, 78906536, 80084040, 81271736, 82469648,
83677792, 84896192, 86124888, 87363888, 88613232, 89872928, 91143016, 92423512,
93714432, 95015816, 96327688, 97650056, 98982952, 100326408, 101680440, 103045072,
104420320, 105806224, 107202800, 108610064, 110028048, 111456776, 112896264, 114346544,
115807632, 117279552, 118762328, 120255976, 121760536, 123276016, 124802440, 126339832,
127888216, 129447616, 131018048, 132599544, 134192112, 135795792, 137410592, 139036528,
140673648, 142321952, 143981456, 145652208, 147334208, 149027488, 150732064, 152447968,
154175200, 155913792, 157663776, 159425168, 161197984, 162982240, 164777968, 166585184,
168403904, 170234160, 172075968, 173929344, 175794320, 177670896, 179559120, 181458992,
183370528, 185293776, 187228736, 189175424, 191133888, 193104112, 195086128, 197079968,
199085648, 201103184, 203132592, 205173888, 207227120, 209292272, 211369392, 213458480,
215559568, 217672656, 219797792, 221934976, 224084240, 226245600, 228419056, 230604656,
232802400, 235012320, 237234432, 239468736, 241715280, 243974080, 246245120, 248528464,
250824112, 253132064, 255452368, 257785040, 260130080, 262487520, 264857376, 267239664,
};
static stbir_uint8 stbir__linear_to_srgb_uchar(float f)
{
int x = (int) (f * (1 << 28)); // has headroom so you don't need to clamp
int v = 0;
int i;
// Refine the guess with a short binary search.
i = v + 128; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 64; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 32; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 16; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 8; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 4; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 2; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
i = v + 1; if (x >= stbir__srgb_offset_to_linear_scaled[i]) v = i;
return (stbir_uint8) v;
}
#endif
static float stbir__filter_trapezoid(float x, float scale)
{
float halfscale = scale / 2;
float t = 0.5f + halfscale;
STBIR_ASSERT(scale <= 1);
x = (float)fabs(x);
if (x >= t)
return 0;
else
{
float r = 0.5f - halfscale;
if (x <= r)
return 1;
else
return (t - x) / scale;
}
}
static float stbir__support_trapezoid(float scale)
{
STBIR_ASSERT(scale <= 1);
return 0.5f + scale / 2;
}
static float stbir__filter_triangle(float x, float s)
{
STBIR__UNUSED_PARAM(s);
x = (float)fabs(x);
if (x <= 1.0f)
return 1 - x;
else
return 0;
}
static float stbir__filter_cubic(float x, float s)
{
STBIR__UNUSED_PARAM(s);
x = (float)fabs(x);
if (x < 1.0f)
return (4 + x*x*(3*x - 6))/6;
else if (x < 2.0f)
return (8 + x*(-12 + x*(6 - x)))/6;
return (0.0f);
}
static float stbir__filter_catmullrom(float x, float s)
{
STBIR__UNUSED_PARAM(s);
x = (float)fabs(x);
if (x < 1.0f)
return 1 - x*x*(2.5f - 1.5f*x);
else if (x < 2.0f)
return 2 - x*(4 + x*(0.5f*x - 2.5f));
return (0.0f);
}
static float stbir__filter_mitchell(float x, float s)
{
STBIR__UNUSED_PARAM(s);
x = (float)fabs(x);
if (x < 1.0f)
return (16 + x*x*(21 * x - 36))/18;
else if (x < 2.0f)
return (32 + x*(-60 + x*(36 - 7*x)))/18;
return (0.0f);
}
static float stbir__support_zero(float s)
{
STBIR__UNUSED_PARAM(s);
return 0;
}
static float stbir__support_one(float s)
{
STBIR__UNUSED_PARAM(s);
return 1;
}
static float stbir__support_two(float s)
{
STBIR__UNUSED_PARAM(s);
return 2;
}
static stbir__filter_info stbir__filter_info_table[] = {
{ NULL, stbir__support_zero },
{ stbir__filter_trapezoid, stbir__support_trapezoid },
{ stbir__filter_triangle, stbir__support_one },
{ stbir__filter_cubic, stbir__support_two },
{ stbir__filter_catmullrom, stbir__support_two },
{ stbir__filter_mitchell, stbir__support_two },
};
stbir__inline static int stbir__use_upsampling(float ratio)
{
return ratio > 1;
}
stbir__inline static int stbir__use_width_upsampling(stbir__info* stbir_info)
{
return stbir__use_upsampling(stbir_info->horizontal_scale);
}
stbir__inline static int stbir__use_height_upsampling(stbir__info* stbir_info)
{
return stbir__use_upsampling(stbir_info->vertical_scale);
}
// This is the maximum number of input samples that can affect an output sample
// with the given filter
static int stbir__get_filter_pixel_width(stbir_filter filter, float scale)
{
STBIR_ASSERT(filter != 0);
STBIR_ASSERT(filter < STBIR__ARRAY_SIZE(stbir__filter_info_table));
if (stbir__use_upsampling(scale))
return (int)ceil(stbir__filter_info_table[filter].support(1/scale) * 2);
else
return (int)ceil(stbir__filter_info_table[filter].support(scale) * 2 / scale);
}
// This is how much to expand buffers to account for filters seeking outside
// the image boundaries.
static int stbir__get_filter_pixel_margin(stbir_filter filter, float scale)
{
return stbir__get_filter_pixel_width(filter, scale) / 2;
}
static int stbir__get_coefficient_width(stbir_filter filter, float scale)
{
if (stbir__use_upsampling(scale))
return (int)ceil(stbir__filter_info_table[filter].support(1 / scale) * 2);
else
return (int)ceil(stbir__filter_info_table[filter].support(scale) * 2);
}
static int stbir__get_contributors(float scale, stbir_filter filter, int input_size, int output_size)
{
if (stbir__use_upsampling(scale))
return output_size;
else
return (input_size + stbir__get_filter_pixel_margin(filter, scale) * 2);
}
static int stbir__get_total_horizontal_coefficients(stbir__info* info)
{
return info->horizontal_num_contributors
* stbir__get_coefficient_width (info->horizontal_filter, info->horizontal_scale);
}
static int stbir__get_total_vertical_coefficients(stbir__info* info)
{
return info->vertical_num_contributors
* stbir__get_coefficient_width (info->vertical_filter, info->vertical_scale);
}
static stbir__contributors* stbir__get_contributor(stbir__contributors* contributors, int n)
{
return &contributors[n];
}
// For perf reasons this code is duplicated in stbir__resample_horizontal_upsample/downsample,
// if you change it here change it there too.
static float* stbir__get_coefficient(float* coefficients, stbir_filter filter, float scale, int n, int c)
{
int width = stbir__get_coefficient_width(filter, scale);
return &coefficients[width*n + c];
}
static int stbir__edge_wrap_slow(stbir_edge edge, int n, int max)
{
switch (edge)
{
case STBIR_EDGE_ZERO:
return 0; // we'll decode the wrong pixel here, and then overwrite with 0s later
case STBIR_EDGE_CLAMP:
if (n < 0)
return 0;
if (n >= max)
return max - 1;
return n; // NOTREACHED
case STBIR_EDGE_REFLECT:
{
if (n < 0)
{
if (n < max)
return -n;
else
return max - 1;
}
if (n >= max)
{
int max2 = max * 2;
if (n >= max2)
return 0;
else
return max2 - n - 1;
}
return n; // NOTREACHED
}
case STBIR_EDGE_WRAP:
if (n >= 0)
return (n % max);
else
{
int m = (-n) % max;
if (m != 0)
m = max - m;
return (m);
}
// NOTREACHED
default:
STBIR_ASSERT(!"Unimplemented edge type");
return 0;
}
}
stbir__inline static int stbir__edge_wrap(stbir_edge edge, int n, int max)
{
// avoid per-pixel switch
if (n >= 0 && n < max)
return n;
return stbir__edge_wrap_slow(edge, n, max);
}
// What input pixels contribute to this output pixel?
static void stbir__calculate_sample_range_upsample(int n, float out_filter_radius, float scale_ratio, float out_shift, int* in_first_pixel, int* in_last_pixel, float* in_center_of_out)
{
float out_pixel_center = (float)n + 0.5f;
float out_pixel_influence_lowerbound = out_pixel_center - out_filter_radius;
float out_pixel_influence_upperbound = out_pixel_center + out_filter_radius;
float in_pixel_influence_lowerbound = (out_pixel_influence_lowerbound + out_shift) / scale_ratio;
float in_pixel_influence_upperbound = (out_pixel_influence_upperbound + out_shift) / scale_ratio;
*in_center_of_out = (out_pixel_center + out_shift) / scale_ratio;
*in_first_pixel = (int)(floor(in_pixel_influence_lowerbound + 0.5));
*in_last_pixel = (int)(floor(in_pixel_influence_upperbound - 0.5));
}
// What output pixels does this input pixel contribute to?
static void stbir__calculate_sample_range_downsample(int n, float in_pixels_radius, float scale_ratio, float out_shift, int* out_first_pixel, int* out_last_pixel, float* out_center_of_in)
{
float in_pixel_center = (float)n + 0.5f;
float in_pixel_influence_lowerbound = in_pixel_center - in_pixels_radius;
float in_pixel_influence_upperbound = in_pixel_center + in_pixels_radius;
float out_pixel_influence_lowerbound = in_pixel_influence_lowerbound * scale_ratio - out_shift;
float out_pixel_influence_upperbound = in_pixel_influence_upperbound * scale_ratio - out_shift;
*out_center_of_in = in_pixel_center * scale_ratio - out_shift;
*out_first_pixel = (int)(floor(out_pixel_influence_lowerbound + 0.5));
*out_last_pixel = (int)(floor(out_pixel_influence_upperbound - 0.5));
}
static void stbir__calculate_coefficients_upsample(stbir_filter filter, float scale, int in_first_pixel, int in_last_pixel, float in_center_of_out, stbir__contributors* contributor, float* coefficient_group)
{
int i;
float total_filter = 0;
float filter_scale;
STBIR_ASSERT(in_last_pixel - in_first_pixel <= (int)ceil(stbir__filter_info_table[filter].support(1/scale) * 2)); // Taken directly from stbir__get_coefficient_width() which we can't call because we don't know if we're horizontal or vertical.
contributor->n0 = in_first_pixel;
contributor->n1 = in_last_pixel;
STBIR_ASSERT(contributor->n1 >= contributor->n0);
for (i = 0; i <= in_last_pixel - in_first_pixel; i++)
{
float in_pixel_center = (float)(i + in_first_pixel) + 0.5f;
coefficient_group[i] = stbir__filter_info_table[filter].kernel(in_center_of_out - in_pixel_center, 1 / scale);
// If the coefficient is zero, skip it. (Don't do the <0 check here, we want the influence of those outside pixels.)
if (i == 0 && !coefficient_group[i])
{
contributor->n0 = ++in_first_pixel;
i--;
continue;
}
total_filter += coefficient_group[i];
}
STBIR_ASSERT(stbir__filter_info_table[filter].kernel((float)(in_last_pixel + 1) + 0.5f - in_center_of_out, 1/scale) == 0);
STBIR_ASSERT(total_filter > 0.9);
STBIR_ASSERT(total_filter < 1.1f); // Make sure it's not way off.
// Make sure the sum of all coefficients is 1.
filter_scale = 1 / total_filter;
for (i = 0; i <= in_last_pixel - in_first_pixel; i++)
coefficient_group[i] *= filter_scale;
for (i = in_last_pixel - in_first_pixel; i >= 0; i--)
{
if (coefficient_group[i])
break;
// This line has no weight. We can skip it.
contributor->n1 = contributor->n0 + i - 1;
}
}
static void stbir__calculate_coefficients_downsample(stbir_filter filter, float scale_ratio, int out_first_pixel, int out_last_pixel, float out_center_of_in, stbir__contributors* contributor, float* coefficient_group)
{
int i;
STBIR_ASSERT(out_last_pixel - out_first_pixel <= (int)ceil(stbir__filter_info_table[filter].support(scale_ratio) * 2)); // Taken directly from stbir__get_coefficient_width() which we can't call because we don't know if we're horizontal or vertical.
contributor->n0 = out_first_pixel;
contributor->n1 = out_last_pixel;
STBIR_ASSERT(contributor->n1 >= contributor->n0);
for (i = 0; i <= out_last_pixel - out_first_pixel; i++)
{
float out_pixel_center = (float)(i + out_first_pixel) + 0.5f;
float x = out_pixel_center - out_center_of_in;
coefficient_group[i] = stbir__filter_info_table[filter].kernel(x, scale_ratio) * scale_ratio;
}
STBIR_ASSERT(stbir__filter_info_table[filter].kernel((float)(out_last_pixel + 1) + 0.5f - out_center_of_in, scale_ratio) == 0);
for (i = out_last_pixel - out_first_pixel; i >= 0; i--)
{
if (coefficient_group[i])
break;
// This line has no weight. We can skip it.
contributor->n1 = contributor->n0 + i - 1;
}
}
static void stbir__normalize_downsample_coefficients(stbir__contributors* contributors, float* coefficients, stbir_filter filter, float scale_ratio, int input_size, int output_size)
{
int num_contributors = stbir__get_contributors(scale_ratio, filter, input_size, output_size);
int num_coefficients = stbir__get_coefficient_width(filter, scale_ratio);
int i, j;
int skip;
for (i = 0; i < output_size; i++)
{
float scale;
float total = 0;
for (j = 0; j < num_contributors; j++)
{
if (i >= contributors[j].n0 && i <= contributors[j].n1)
{
float coefficient = *stbir__get_coefficient(coefficients, filter, scale_ratio, j, i - contributors[j].n0);
total += coefficient;
}
else if (i < contributors[j].n0)
break;
}
STBIR_ASSERT(total > 0.9f);
STBIR_ASSERT(total < 1.1f);
scale = 1 / total;
for (j = 0; j < num_contributors; j++)
{
if (i >= contributors[j].n0 && i <= contributors[j].n1)
*stbir__get_coefficient(coefficients, filter, scale_ratio, j, i - contributors[j].n0) *= scale;
else if (i < contributors[j].n0)
break;
}
}
// Optimize: Skip zero coefficients and contributions outside of image bounds.
// Do this after normalizing because normalization depends on the n0/n1 values.
for (j = 0; j < num_contributors; j++)
{
int range, max, width;
skip = 0;
while (*stbir__get_coefficient(coefficients, filter, scale_ratio, j, skip) == 0)
skip++;
contributors[j].n0 += skip;
while (contributors[j].n0 < 0)
{
contributors[j].n0++;
skip++;
}
range = contributors[j].n1 - contributors[j].n0 + 1;
max = stbir__min(num_coefficients, range);
width = stbir__get_coefficient_width(filter, scale_ratio);
for (i = 0; i < max; i++)
{
if (i + skip >= width)
break;
*stbir__get_coefficient(coefficients, filter, scale_ratio, j, i) = *stbir__get_coefficient(coefficients, filter, scale_ratio, j, i + skip);
}
continue;
}
// Using min to avoid writing into invalid pixels.
for (i = 0; i < num_contributors; i++)
contributors[i].n1 = stbir__min(contributors[i].n1, output_size - 1);
}
// Each scan line uses the same kernel values so we should calculate the kernel
// values once and then we can use them for every scan line.
static void stbir__calculate_filters(stbir__contributors* contributors, float* coefficients, stbir_filter filter, float scale_ratio, float shift, int input_size, int output_size)
{
int n;
int total_contributors = stbir__get_contributors(scale_ratio, filter, input_size, output_size);
if (stbir__use_upsampling(scale_ratio))
{
float out_pixels_radius = stbir__filter_info_table[filter].support(1 / scale_ratio) * scale_ratio;
// Looping through out pixels
for (n = 0; n < total_contributors; n++)
{
float in_center_of_out; // Center of the current out pixel in the in pixel space
int in_first_pixel, in_last_pixel;
stbir__calculate_sample_range_upsample(n, out_pixels_radius, scale_ratio, shift, &in_first_pixel, &in_last_pixel, &in_center_of_out);
stbir__calculate_coefficients_upsample(filter, scale_ratio, in_first_pixel, in_last_pixel, in_center_of_out, stbir__get_contributor(contributors, n), stbir__get_coefficient(coefficients, filter, scale_ratio, n, 0));
}
}
else
{
float in_pixels_radius = stbir__filter_info_table[filter].support(scale_ratio) / scale_ratio;
// Looping through in pixels
for (n = 0; n < total_contributors; n++)
{
float out_center_of_in; // Center of the current out pixel in the in pixel space
int out_first_pixel, out_last_pixel;
int n_adjusted = n - stbir__get_filter_pixel_margin(filter, scale_ratio);
stbir__calculate_sample_range_downsample(n_adjusted, in_pixels_radius, scale_ratio, shift, &out_first_pixel, &out_last_pixel, &out_center_of_in);
stbir__calculate_coefficients_downsample(filter, scale_ratio, out_first_pixel, out_last_pixel, out_center_of_in, stbir__get_contributor(contributors, n), stbir__get_coefficient(coefficients, filter, scale_ratio, n, 0));
}
stbir__normalize_downsample_coefficients(contributors, coefficients, filter, scale_ratio, input_size, output_size);
}
}
static float* stbir__get_decode_buffer(stbir__info* stbir_info)
{
// The 0 index of the decode buffer starts after the margin. This makes
// it okay to use negative indexes on the decode buffer.
return &stbir_info->decode_buffer[stbir_info->horizontal_filter_pixel_margin * stbir_info->channels];
}
#define STBIR__DECODE(type, colorspace) ((int)(type) * (STBIR_MAX_COLORSPACES) + (int)(colorspace))
static void stbir__decode_scanline(stbir__info* stbir_info, int n)
{
int c;
int channels = stbir_info->channels;
int alpha_channel = stbir_info->alpha_channel;
int type = stbir_info->type;
int colorspace = stbir_info->colorspace;
int input_w = stbir_info->input_w;
size_t input_stride_bytes = stbir_info->input_stride_bytes;
float* decode_buffer = stbir__get_decode_buffer(stbir_info);
stbir_edge edge_horizontal = stbir_info->edge_horizontal;
stbir_edge edge_vertical = stbir_info->edge_vertical;
size_t in_buffer_row_offset = stbir__edge_wrap(edge_vertical, n, stbir_info->input_h) * input_stride_bytes;
const void* input_data = (char *) stbir_info->input_data + in_buffer_row_offset;
int max_x = input_w + stbir_info->horizontal_filter_pixel_margin;
int decode = STBIR__DECODE(type, colorspace);
int x = -stbir_info->horizontal_filter_pixel_margin;
// special handling for STBIR_EDGE_ZERO because it needs to return an item that doesn't appear in the input,
// and we want to avoid paying overhead on every pixel if not STBIR_EDGE_ZERO
if (edge_vertical == STBIR_EDGE_ZERO && (n < 0 || n >= stbir_info->input_h))
{
for (; x < max_x; x++)
for (c = 0; c < channels; c++)
decode_buffer[x*channels + c] = 0;
return;
}
switch (decode)
{
case STBIR__DECODE(STBIR_TYPE_UINT8, STBIR_COLORSPACE_LINEAR):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = ((float)((const unsigned char*)input_data)[input_pixel_index + c]) / stbir__max_uint8_as_float;
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT8, STBIR_COLORSPACE_SRGB):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = stbir__srgb_uchar_to_linear_float[((const unsigned char*)input_data)[input_pixel_index + c]];
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
decode_buffer[decode_pixel_index + alpha_channel] = ((float)((const unsigned char*)input_data)[input_pixel_index + alpha_channel]) / stbir__max_uint8_as_float;
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT16, STBIR_COLORSPACE_LINEAR):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = ((float)((const unsigned short*)input_data)[input_pixel_index + c]) / stbir__max_uint16_as_float;
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT16, STBIR_COLORSPACE_SRGB):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = stbir__srgb_to_linear(((float)((const unsigned short*)input_data)[input_pixel_index + c]) / stbir__max_uint16_as_float);
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
decode_buffer[decode_pixel_index + alpha_channel] = ((float)((const unsigned short*)input_data)[input_pixel_index + alpha_channel]) / stbir__max_uint16_as_float;
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT32, STBIR_COLORSPACE_LINEAR):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = (float)(((double)((const unsigned int*)input_data)[input_pixel_index + c]) / stbir__max_uint32_as_float);
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT32, STBIR_COLORSPACE_SRGB):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = stbir__srgb_to_linear((float)(((double)((const unsigned int*)input_data)[input_pixel_index + c]) / stbir__max_uint32_as_float));
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
decode_buffer[decode_pixel_index + alpha_channel] = (float)(((double)((const unsigned int*)input_data)[input_pixel_index + alpha_channel]) / stbir__max_uint32_as_float);
}
break;
case STBIR__DECODE(STBIR_TYPE_FLOAT, STBIR_COLORSPACE_LINEAR):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = ((const float*)input_data)[input_pixel_index + c];
}
break;
case STBIR__DECODE(STBIR_TYPE_FLOAT, STBIR_COLORSPACE_SRGB):
for (; x < max_x; x++)
{
int decode_pixel_index = x * channels;
int input_pixel_index = stbir__edge_wrap(edge_horizontal, x, input_w) * channels;
for (c = 0; c < channels; c++)
decode_buffer[decode_pixel_index + c] = stbir__srgb_to_linear(((const float*)input_data)[input_pixel_index + c]);
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
decode_buffer[decode_pixel_index + alpha_channel] = ((const float*)input_data)[input_pixel_index + alpha_channel];
}
break;
default:
STBIR_ASSERT(!"Unknown type/colorspace/channels combination.");
break;
}
if (!(stbir_info->flags & STBIR_FLAG_ALPHA_PREMULTIPLIED))
{
for (x = -stbir_info->horizontal_filter_pixel_margin; x < max_x; x++)
{
int decode_pixel_index = x * channels;
// If the alpha value is 0 it will clobber the color values. Make sure it's not.
float alpha = decode_buffer[decode_pixel_index + alpha_channel];
#ifndef STBIR_NO_ALPHA_EPSILON
if (stbir_info->type != STBIR_TYPE_FLOAT) {
alpha += STBIR_ALPHA_EPSILON;
decode_buffer[decode_pixel_index + alpha_channel] = alpha;
}
#endif
for (c = 0; c < channels; c++)
{
if (c == alpha_channel)
continue;
decode_buffer[decode_pixel_index + c] *= alpha;
}
}
}
if (edge_horizontal == STBIR_EDGE_ZERO)
{
for (x = -stbir_info->horizontal_filter_pixel_margin; x < 0; x++)
{
for (c = 0; c < channels; c++)
decode_buffer[x*channels + c] = 0;
}
for (x = input_w; x < max_x; x++)
{
for (c = 0; c < channels; c++)
decode_buffer[x*channels + c] = 0;
}
}
}
static float* stbir__get_ring_buffer_entry(float* ring_buffer, int index, int ring_buffer_length)
{
return &ring_buffer[index * ring_buffer_length];
}
static float* stbir__add_empty_ring_buffer_entry(stbir__info* stbir_info, int n)
{
int ring_buffer_index;
float* ring_buffer;
stbir_info->ring_buffer_last_scanline = n;
if (stbir_info->ring_buffer_begin_index < 0)
{
ring_buffer_index = stbir_info->ring_buffer_begin_index = 0;
stbir_info->ring_buffer_first_scanline = n;
}
else
{
ring_buffer_index = (stbir_info->ring_buffer_begin_index + (stbir_info->ring_buffer_last_scanline - stbir_info->ring_buffer_first_scanline)) % stbir_info->ring_buffer_num_entries;
STBIR_ASSERT(ring_buffer_index != stbir_info->ring_buffer_begin_index);
}
ring_buffer = stbir__get_ring_buffer_entry(stbir_info->ring_buffer, ring_buffer_index, stbir_info->ring_buffer_length_bytes / sizeof(float));
memset(ring_buffer, 0, stbir_info->ring_buffer_length_bytes);
return ring_buffer;
}
static void stbir__resample_horizontal_upsample(stbir__info* stbir_info, float* output_buffer)
{
int x, k;
int output_w = stbir_info->output_w;
int channels = stbir_info->channels;
float* decode_buffer = stbir__get_decode_buffer(stbir_info);
stbir__contributors* horizontal_contributors = stbir_info->horizontal_contributors;
float* horizontal_coefficients = stbir_info->horizontal_coefficients;
int coefficient_width = stbir_info->horizontal_coefficient_width;
for (x = 0; x < output_w; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int out_pixel_index = x * channels;
int coefficient_group = coefficient_width * x;
int coefficient_counter = 0;
STBIR_ASSERT(n1 >= n0);
STBIR_ASSERT(n0 >= -stbir_info->horizontal_filter_pixel_margin);
STBIR_ASSERT(n1 >= -stbir_info->horizontal_filter_pixel_margin);
STBIR_ASSERT(n0 < stbir_info->input_w + stbir_info->horizontal_filter_pixel_margin);
STBIR_ASSERT(n1 < stbir_info->input_w + stbir_info->horizontal_filter_pixel_margin);
switch (channels) {
case 1:
for (k = n0; k <= n1; k++)
{
int in_pixel_index = k * 1;
float coefficient = horizontal_coefficients[coefficient_group + coefficient_counter++];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
}
break;
case 2:
for (k = n0; k <= n1; k++)
{
int in_pixel_index = k * 2;
float coefficient = horizontal_coefficients[coefficient_group + coefficient_counter++];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
}
break;
case 3:
for (k = n0; k <= n1; k++)
{
int in_pixel_index = k * 3;
float coefficient = horizontal_coefficients[coefficient_group + coefficient_counter++];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
output_buffer[out_pixel_index + 2] += decode_buffer[in_pixel_index + 2] * coefficient;
}
break;
case 4:
for (k = n0; k <= n1; k++)
{
int in_pixel_index = k * 4;
float coefficient = horizontal_coefficients[coefficient_group + coefficient_counter++];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
output_buffer[out_pixel_index + 2] += decode_buffer[in_pixel_index + 2] * coefficient;
output_buffer[out_pixel_index + 3] += decode_buffer[in_pixel_index + 3] * coefficient;
}
break;
default:
for (k = n0; k <= n1; k++)
{
int in_pixel_index = k * channels;
float coefficient = horizontal_coefficients[coefficient_group + coefficient_counter++];
int c;
STBIR_ASSERT(coefficient != 0);
for (c = 0; c < channels; c++)
output_buffer[out_pixel_index + c] += decode_buffer[in_pixel_index + c] * coefficient;
}
break;
}
}
}
static void stbir__resample_horizontal_downsample(stbir__info* stbir_info, float* output_buffer)
{
int x, k;
int input_w = stbir_info->input_w;
int channels = stbir_info->channels;
float* decode_buffer = stbir__get_decode_buffer(stbir_info);
stbir__contributors* horizontal_contributors = stbir_info->horizontal_contributors;
float* horizontal_coefficients = stbir_info->horizontal_coefficients;
int coefficient_width = stbir_info->horizontal_coefficient_width;
int filter_pixel_margin = stbir_info->horizontal_filter_pixel_margin;
int max_x = input_w + filter_pixel_margin * 2;
STBIR_ASSERT(!stbir__use_width_upsampling(stbir_info));
switch (channels) {
case 1:
for (x = 0; x < max_x; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int in_x = x - filter_pixel_margin;
int in_pixel_index = in_x * 1;
int max_n = n1;
int coefficient_group = coefficient_width * x;
for (k = n0; k <= max_n; k++)
{
int out_pixel_index = k * 1;
float coefficient = horizontal_coefficients[coefficient_group + k - n0];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
}
}
break;
case 2:
for (x = 0; x < max_x; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int in_x = x - filter_pixel_margin;
int in_pixel_index = in_x * 2;
int max_n = n1;
int coefficient_group = coefficient_width * x;
for (k = n0; k <= max_n; k++)
{
int out_pixel_index = k * 2;
float coefficient = horizontal_coefficients[coefficient_group + k - n0];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
}
}
break;
case 3:
for (x = 0; x < max_x; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int in_x = x - filter_pixel_margin;
int in_pixel_index = in_x * 3;
int max_n = n1;
int coefficient_group = coefficient_width * x;
for (k = n0; k <= max_n; k++)
{
int out_pixel_index = k * 3;
float coefficient = horizontal_coefficients[coefficient_group + k - n0];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
output_buffer[out_pixel_index + 2] += decode_buffer[in_pixel_index + 2] * coefficient;
}
}
break;
case 4:
for (x = 0; x < max_x; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int in_x = x - filter_pixel_margin;
int in_pixel_index = in_x * 4;
int max_n = n1;
int coefficient_group = coefficient_width * x;
for (k = n0; k <= max_n; k++)
{
int out_pixel_index = k * 4;
float coefficient = horizontal_coefficients[coefficient_group + k - n0];
STBIR_ASSERT(coefficient != 0);
output_buffer[out_pixel_index + 0] += decode_buffer[in_pixel_index + 0] * coefficient;
output_buffer[out_pixel_index + 1] += decode_buffer[in_pixel_index + 1] * coefficient;
output_buffer[out_pixel_index + 2] += decode_buffer[in_pixel_index + 2] * coefficient;
output_buffer[out_pixel_index + 3] += decode_buffer[in_pixel_index + 3] * coefficient;
}
}
break;
default:
for (x = 0; x < max_x; x++)
{
int n0 = horizontal_contributors[x].n0;
int n1 = horizontal_contributors[x].n1;
int in_x = x - filter_pixel_margin;
int in_pixel_index = in_x * channels;
int max_n = n1;
int coefficient_group = coefficient_width * x;
for (k = n0; k <= max_n; k++)
{
int c;
int out_pixel_index = k * channels;
float coefficient = horizontal_coefficients[coefficient_group + k - n0];
STBIR_ASSERT(coefficient != 0);
for (c = 0; c < channels; c++)
output_buffer[out_pixel_index + c] += decode_buffer[in_pixel_index + c] * coefficient;
}
}
break;
}
}
static void stbir__decode_and_resample_upsample(stbir__info* stbir_info, int n)
{
// Decode the nth scanline from the source image into the decode buffer.
stbir__decode_scanline(stbir_info, n);
// Now resample it into the ring buffer.
if (stbir__use_width_upsampling(stbir_info))
stbir__resample_horizontal_upsample(stbir_info, stbir__add_empty_ring_buffer_entry(stbir_info, n));
else
stbir__resample_horizontal_downsample(stbir_info, stbir__add_empty_ring_buffer_entry(stbir_info, n));
// Now it's sitting in the ring buffer ready to be used as source for the vertical sampling.
}
static void stbir__decode_and_resample_downsample(stbir__info* stbir_info, int n)
{
// Decode the nth scanline from the source image into the decode buffer.
stbir__decode_scanline(stbir_info, n);
memset(stbir_info->horizontal_buffer, 0, stbir_info->output_w * stbir_info->channels * sizeof(float));
// Now resample it into the horizontal buffer.
if (stbir__use_width_upsampling(stbir_info))
stbir__resample_horizontal_upsample(stbir_info, stbir_info->horizontal_buffer);
else
stbir__resample_horizontal_downsample(stbir_info, stbir_info->horizontal_buffer);
// Now it's sitting in the horizontal buffer ready to be distributed into the ring buffers.
}
// Get the specified scan line from the ring buffer.
static float* stbir__get_ring_buffer_scanline(int get_scanline, float* ring_buffer, int begin_index, int first_scanline, int ring_buffer_num_entries, int ring_buffer_length)
{
int ring_buffer_index = (begin_index + (get_scanline - first_scanline)) % ring_buffer_num_entries;
return stbir__get_ring_buffer_entry(ring_buffer, ring_buffer_index, ring_buffer_length);
}
static void stbir__encode_scanline(stbir__info* stbir_info, int num_pixels, void *output_buffer, float *encode_buffer, int channels, int alpha_channel, int decode)
{
int x;
int n;
int num_nonalpha;
stbir_uint16 nonalpha[STBIR_MAX_CHANNELS];
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_PREMULTIPLIED))
{
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
float alpha = encode_buffer[pixel_index + alpha_channel];
float reciprocal_alpha = alpha ? 1.0f / alpha : 0;
// unrolling this produced a 1% slowdown upscaling a large RGBA linear-space image on my machine - stb
for (n = 0; n < channels; n++)
if (n != alpha_channel)
encode_buffer[pixel_index + n] *= reciprocal_alpha;
// We added in a small epsilon to prevent the color channel from being deleted with zero alpha.
// Because we only add it for integer types, it will automatically be discarded on integer
// conversion, so we don't need to subtract it back out (which would be problematic for
// numeric precision reasons).
}
}
// build a table of all channels that need colorspace correction, so
// we don't perform colorspace correction on channels that don't need it.
for (x = 0, num_nonalpha = 0; x < channels; ++x)
{
if (x != alpha_channel || (stbir_info->flags & STBIR_FLAG_ALPHA_USES_COLORSPACE))
{
nonalpha[num_nonalpha++] = (stbir_uint16)x;
}
}
#define STBIR__ROUND_INT(f) ((int) ((f)+0.5))
#define STBIR__ROUND_UINT(f) ((stbir_uint32) ((f)+0.5))
#ifdef STBIR__SATURATE_INT
#define STBIR__ENCODE_LINEAR8(f) stbir__saturate8 (STBIR__ROUND_INT((f) * stbir__max_uint8_as_float ))
#define STBIR__ENCODE_LINEAR16(f) stbir__saturate16(STBIR__ROUND_INT((f) * stbir__max_uint16_as_float))
#else
#define STBIR__ENCODE_LINEAR8(f) (unsigned char ) STBIR__ROUND_INT(stbir__saturate(f) * stbir__max_uint8_as_float )
#define STBIR__ENCODE_LINEAR16(f) (unsigned short) STBIR__ROUND_INT(stbir__saturate(f) * stbir__max_uint16_as_float)
#endif
switch (decode)
{
case STBIR__DECODE(STBIR_TYPE_UINT8, STBIR_COLORSPACE_LINEAR):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < channels; n++)
{
int index = pixel_index + n;
((unsigned char*)output_buffer)[index] = STBIR__ENCODE_LINEAR8(encode_buffer[index]);
}
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT8, STBIR_COLORSPACE_SRGB):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < num_nonalpha; n++)
{
int index = pixel_index + nonalpha[n];
((unsigned char*)output_buffer)[index] = stbir__linear_to_srgb_uchar(encode_buffer[index]);
}
if (!(stbir_info->flags & STBIR_FLAG_ALPHA_USES_COLORSPACE))
((unsigned char *)output_buffer)[pixel_index + alpha_channel] = STBIR__ENCODE_LINEAR8(encode_buffer[pixel_index+alpha_channel]);
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT16, STBIR_COLORSPACE_LINEAR):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < channels; n++)
{
int index = pixel_index + n;
((unsigned short*)output_buffer)[index] = STBIR__ENCODE_LINEAR16(encode_buffer[index]);
}
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT16, STBIR_COLORSPACE_SRGB):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < num_nonalpha; n++)
{
int index = pixel_index + nonalpha[n];
((unsigned short*)output_buffer)[index] = (unsigned short)STBIR__ROUND_INT(stbir__linear_to_srgb(stbir__saturate(encode_buffer[index])) * stbir__max_uint16_as_float);
}
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
((unsigned short*)output_buffer)[pixel_index + alpha_channel] = STBIR__ENCODE_LINEAR16(encode_buffer[pixel_index + alpha_channel]);
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT32, STBIR_COLORSPACE_LINEAR):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < channels; n++)
{
int index = pixel_index + n;
((unsigned int*)output_buffer)[index] = (unsigned int)STBIR__ROUND_UINT(((double)stbir__saturate(encode_buffer[index])) * stbir__max_uint32_as_float);
}
}
break;
case STBIR__DECODE(STBIR_TYPE_UINT32, STBIR_COLORSPACE_SRGB):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < num_nonalpha; n++)
{
int index = pixel_index + nonalpha[n];
((unsigned int*)output_buffer)[index] = (unsigned int)STBIR__ROUND_UINT(((double)stbir__linear_to_srgb(stbir__saturate(encode_buffer[index]))) * stbir__max_uint32_as_float);
}
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
((unsigned int*)output_buffer)[pixel_index + alpha_channel] = (unsigned int)STBIR__ROUND_INT(((double)stbir__saturate(encode_buffer[pixel_index + alpha_channel])) * stbir__max_uint32_as_float);
}
break;
case STBIR__DECODE(STBIR_TYPE_FLOAT, STBIR_COLORSPACE_LINEAR):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < channels; n++)
{
int index = pixel_index + n;
((float*)output_buffer)[index] = encode_buffer[index];
}
}
break;
case STBIR__DECODE(STBIR_TYPE_FLOAT, STBIR_COLORSPACE_SRGB):
for (x=0; x < num_pixels; ++x)
{
int pixel_index = x*channels;
for (n = 0; n < num_nonalpha; n++)
{
int index = pixel_index + nonalpha[n];
((float*)output_buffer)[index] = stbir__linear_to_srgb(encode_buffer[index]);
}
if (!(stbir_info->flags&STBIR_FLAG_ALPHA_USES_COLORSPACE))
((float*)output_buffer)[pixel_index + alpha_channel] = encode_buffer[pixel_index + alpha_channel];
}
break;
default:
STBIR_ASSERT(!"Unknown type/colorspace/channels combination.");
break;
}
}
static void stbir__resample_vertical_upsample(stbir__info* stbir_info, int n)
{
int x, k;
int output_w = stbir_info->output_w;
stbir__contributors* vertical_contributors = stbir_info->vertical_contributors;
float* vertical_coefficients = stbir_info->vertical_coefficients;
int channels = stbir_info->channels;
int alpha_channel = stbir_info->alpha_channel;
int type = stbir_info->type;
int colorspace = stbir_info->colorspace;
int ring_buffer_entries = stbir_info->ring_buffer_num_entries;
void* output_data = stbir_info->output_data;
float* encode_buffer = stbir_info->encode_buffer;
int decode = STBIR__DECODE(type, colorspace);
int coefficient_width = stbir_info->vertical_coefficient_width;
int coefficient_counter;
int contributor = n;
float* ring_buffer = stbir_info->ring_buffer;
int ring_buffer_begin_index = stbir_info->ring_buffer_begin_index;
int ring_buffer_first_scanline = stbir_info->ring_buffer_first_scanline;
int ring_buffer_length = stbir_info->ring_buffer_length_bytes/sizeof(float);
int n0,n1, output_row_start;
int coefficient_group = coefficient_width * contributor;
n0 = vertical_contributors[contributor].n0;
n1 = vertical_contributors[contributor].n1;
output_row_start = n * stbir_info->output_stride_bytes;
STBIR_ASSERT(stbir__use_height_upsampling(stbir_info));
memset(encode_buffer, 0, output_w * sizeof(float) * channels);
// I tried reblocking this for better cache usage of encode_buffer
// (using x_outer, k, x_inner), but it lost speed. -- stb
coefficient_counter = 0;
switch (channels) {
case 1:
for (k = n0; k <= n1; k++)
{
int coefficient_index = coefficient_counter++;
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
for (x = 0; x < output_w; ++x)
{
int in_pixel_index = x * 1;
encode_buffer[in_pixel_index + 0] += ring_buffer_entry[in_pixel_index + 0] * coefficient;
}
}
break;
case 2:
for (k = n0; k <= n1; k++)
{
int coefficient_index = coefficient_counter++;
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
for (x = 0; x < output_w; ++x)
{
int in_pixel_index = x * 2;
encode_buffer[in_pixel_index + 0] += ring_buffer_entry[in_pixel_index + 0] * coefficient;
encode_buffer[in_pixel_index + 1] += ring_buffer_entry[in_pixel_index + 1] * coefficient;
}
}
break;
case 3:
for (k = n0; k <= n1; k++)
{
int coefficient_index = coefficient_counter++;
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
for (x = 0; x < output_w; ++x)
{
int in_pixel_index = x * 3;
encode_buffer[in_pixel_index + 0] += ring_buffer_entry[in_pixel_index + 0] * coefficient;
encode_buffer[in_pixel_index + 1] += ring_buffer_entry[in_pixel_index + 1] * coefficient;
encode_buffer[in_pixel_index + 2] += ring_buffer_entry[in_pixel_index + 2] * coefficient;
}
}
break;
case 4:
for (k = n0; k <= n1; k++)
{
int coefficient_index = coefficient_counter++;
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
for (x = 0; x < output_w; ++x)
{
int in_pixel_index = x * 4;
encode_buffer[in_pixel_index + 0] += ring_buffer_entry[in_pixel_index + 0] * coefficient;
encode_buffer[in_pixel_index + 1] += ring_buffer_entry[in_pixel_index + 1] * coefficient;
encode_buffer[in_pixel_index + 2] += ring_buffer_entry[in_pixel_index + 2] * coefficient;
encode_buffer[in_pixel_index + 3] += ring_buffer_entry[in_pixel_index + 3] * coefficient;
}
}
break;
default:
for (k = n0; k <= n1; k++)
{
int coefficient_index = coefficient_counter++;
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
for (x = 0; x < output_w; ++x)
{
int in_pixel_index = x * channels;
int c;
for (c = 0; c < channels; c++)
encode_buffer[in_pixel_index + c] += ring_buffer_entry[in_pixel_index + c] * coefficient;
}
}
break;
}
stbir__encode_scanline(stbir_info, output_w, (char *) output_data + output_row_start, encode_buffer, channels, alpha_channel, decode);
}
static void stbir__resample_vertical_downsample(stbir__info* stbir_info, int n)
{
int x, k;
int output_w = stbir_info->output_w;
stbir__contributors* vertical_contributors = stbir_info->vertical_contributors;
float* vertical_coefficients = stbir_info->vertical_coefficients;
int channels = stbir_info->channels;
int ring_buffer_entries = stbir_info->ring_buffer_num_entries;
float* horizontal_buffer = stbir_info->horizontal_buffer;
int coefficient_width = stbir_info->vertical_coefficient_width;
int contributor = n + stbir_info->vertical_filter_pixel_margin;
float* ring_buffer = stbir_info->ring_buffer;
int ring_buffer_begin_index = stbir_info->ring_buffer_begin_index;
int ring_buffer_first_scanline = stbir_info->ring_buffer_first_scanline;
int ring_buffer_length = stbir_info->ring_buffer_length_bytes/sizeof(float);
int n0,n1;
n0 = vertical_contributors[contributor].n0;
n1 = vertical_contributors[contributor].n1;
STBIR_ASSERT(!stbir__use_height_upsampling(stbir_info));
for (k = n0; k <= n1; k++)
{
int coefficient_index = k - n0;
int coefficient_group = coefficient_width * contributor;
float coefficient = vertical_coefficients[coefficient_group + coefficient_index];
float* ring_buffer_entry = stbir__get_ring_buffer_scanline(k, ring_buffer, ring_buffer_begin_index, ring_buffer_first_scanline, ring_buffer_entries, ring_buffer_length);
switch (channels) {
case 1:
for (x = 0; x < output_w; x++)
{
int in_pixel_index = x * 1;
ring_buffer_entry[in_pixel_index + 0] += horizontal_buffer[in_pixel_index + 0] * coefficient;
}
break;
case 2:
for (x = 0; x < output_w; x++)
{
int in_pixel_index = x * 2;
ring_buffer_entry[in_pixel_index + 0] += horizontal_buffer[in_pixel_index + 0] * coefficient;
ring_buffer_entry[in_pixel_index + 1] += horizontal_buffer[in_pixel_index + 1] * coefficient;
}
break;
case 3:
for (x = 0; x < output_w; x++)
{
int in_pixel_index = x * 3;
ring_buffer_entry[in_pixel_index + 0] += horizontal_buffer[in_pixel_index + 0] * coefficient;
ring_buffer_entry[in_pixel_index + 1] += horizontal_buffer[in_pixel_index + 1] * coefficient;
ring_buffer_entry[in_pixel_index + 2] += horizontal_buffer[in_pixel_index + 2] * coefficient;
}
break;
case 4:
for (x = 0; x < output_w; x++)
{
int in_pixel_index = x * 4;
ring_buffer_entry[in_pixel_index + 0] += horizontal_buffer[in_pixel_index + 0] * coefficient;
ring_buffer_entry[in_pixel_index + 1] += horizontal_buffer[in_pixel_index + 1] * coefficient;
ring_buffer_entry[in_pixel_index + 2] += horizontal_buffer[in_pixel_index + 2] * coefficient;
ring_buffer_entry[in_pixel_index + 3] += horizontal_buffer[in_pixel_index + 3] * coefficient;
}
break;
default:
for (x = 0; x < output_w; x++)
{
int in_pixel_index = x * channels;
int c;
for (c = 0; c < channels; c++)
ring_buffer_entry[in_pixel_index + c] += horizontal_buffer[in_pixel_index + c] * coefficient;
}
break;
}
}
}
static void stbir__buffer_loop_upsample(stbir__info* stbir_info)
{
int y;
float scale_ratio = stbir_info->vertical_scale;
float out_scanlines_radius = stbir__filter_info_table[stbir_info->vertical_filter].support(1/scale_ratio) * scale_ratio;
STBIR_ASSERT(stbir__use_height_upsampling(stbir_info));
for (y = 0; y < stbir_info->output_h; y++)
{
float in_center_of_out = 0; // Center of the current out scanline in the in scanline space
int in_first_scanline = 0, in_last_scanline = 0;
stbir__calculate_sample_range_upsample(y, out_scanlines_radius, scale_ratio, stbir_info->vertical_shift, &in_first_scanline, &in_last_scanline, &in_center_of_out);
STBIR_ASSERT(in_last_scanline - in_first_scanline + 1 <= stbir_info->ring_buffer_num_entries);
if (stbir_info->ring_buffer_begin_index >= 0)
{
// Get rid of whatever we don't need anymore.
while (in_first_scanline > stbir_info->ring_buffer_first_scanline)
{
if (stbir_info->ring_buffer_first_scanline == stbir_info->ring_buffer_last_scanline)
{
// We just popped the last scanline off the ring buffer.
// Reset it to the empty state.
stbir_info->ring_buffer_begin_index = -1;
stbir_info->ring_buffer_first_scanline = 0;
stbir_info->ring_buffer_last_scanline = 0;
break;
}
else
{
stbir_info->ring_buffer_first_scanline++;
stbir_info->ring_buffer_begin_index = (stbir_info->ring_buffer_begin_index + 1) % stbir_info->ring_buffer_num_entries;
}
}
}
// Load in new ones.
if (stbir_info->ring_buffer_begin_index < 0)
stbir__decode_and_resample_upsample(stbir_info, in_first_scanline);
while (in_last_scanline > stbir_info->ring_buffer_last_scanline)
stbir__decode_and_resample_upsample(stbir_info, stbir_info->ring_buffer_last_scanline + 1);
// Now all buffers should be ready to write a row of vertical sampling.
stbir__resample_vertical_upsample(stbir_info, y);
STBIR_PROGRESS_REPORT((float)y / stbir_info->output_h);
}
}
static void stbir__empty_ring_buffer(stbir__info* stbir_info, int first_necessary_scanline)
{
int output_stride_bytes = stbir_info->output_stride_bytes;
int channels = stbir_info->channels;
int alpha_channel = stbir_info->alpha_channel;
int type = stbir_info->type;
int colorspace = stbir_info->colorspace;
int output_w = stbir_info->output_w;
void* output_data = stbir_info->output_data;
int decode = STBIR__DECODE(type, colorspace);
float* ring_buffer = stbir_info->ring_buffer;
int ring_buffer_length = stbir_info->ring_buffer_length_bytes/sizeof(float);
if (stbir_info->ring_buffer_begin_index >= 0)
{
// Get rid of whatever we don't need anymore.
while (first_necessary_scanline > stbir_info->ring_buffer_first_scanline)
{
if (stbir_info->ring_buffer_first_scanline >= 0 && stbir_info->ring_buffer_first_scanline < stbir_info->output_h)
{
int output_row_start = stbir_info->ring_buffer_first_scanline * output_stride_bytes;
float* ring_buffer_entry = stbir__get_ring_buffer_entry(ring_buffer, stbir_info->ring_buffer_begin_index, ring_buffer_length);
stbir__encode_scanline(stbir_info, output_w, (char *) output_data + output_row_start, ring_buffer_entry, channels, alpha_channel, decode);
STBIR_PROGRESS_REPORT((float)stbir_info->ring_buffer_first_scanline / stbir_info->output_h);
}
if (stbir_info->ring_buffer_first_scanline == stbir_info->ring_buffer_last_scanline)
{
// We just popped the last scanline off the ring buffer.
// Reset it to the empty state.
stbir_info->ring_buffer_begin_index = -1;
stbir_info->ring_buffer_first_scanline = 0;
stbir_info->ring_buffer_last_scanline = 0;
break;
}
else
{
stbir_info->ring_buffer_first_scanline++;
stbir_info->ring_buffer_begin_index = (stbir_info->ring_buffer_begin_index + 1) % stbir_info->ring_buffer_num_entries;
}
}
}
}
static void stbir__buffer_loop_downsample(stbir__info* stbir_info)
{
int y;
float scale_ratio = stbir_info->vertical_scale;
int output_h = stbir_info->output_h;
float in_pixels_radius = stbir__filter_info_table[stbir_info->vertical_filter].support(scale_ratio) / scale_ratio;
int pixel_margin = stbir_info->vertical_filter_pixel_margin;
int max_y = stbir_info->input_h + pixel_margin;
STBIR_ASSERT(!stbir__use_height_upsampling(stbir_info));
for (y = -pixel_margin; y < max_y; y++)
{
float out_center_of_in; // Center of the current out scanline in the in scanline space
int out_first_scanline, out_last_scanline;
stbir__calculate_sample_range_downsample(y, in_pixels_radius, scale_ratio, stbir_info->vertical_shift, &out_first_scanline, &out_last_scanline, &out_center_of_in);
STBIR_ASSERT(out_last_scanline - out_first_scanline + 1 <= stbir_info->ring_buffer_num_entries);
if (out_last_scanline < 0 || out_first_scanline >= output_h)
continue;
stbir__empty_ring_buffer(stbir_info, out_first_scanline);
stbir__decode_and_resample_downsample(stbir_info, y);
// Load in new ones.
if (stbir_info->ring_buffer_begin_index < 0)
stbir__add_empty_ring_buffer_entry(stbir_info, out_first_scanline);
while (out_last_scanline > stbir_info->ring_buffer_last_scanline)
stbir__add_empty_ring_buffer_entry(stbir_info, stbir_info->ring_buffer_last_scanline + 1);
// Now the horizontal buffer is ready to write to all ring buffer rows.
stbir__resample_vertical_downsample(stbir_info, y);
}
stbir__empty_ring_buffer(stbir_info, stbir_info->output_h);
}
static void stbir__setup(stbir__info *info, int input_w, int input_h, int output_w, int output_h, int channels)
{
info->input_w = input_w;
info->input_h = input_h;
info->output_w = output_w;
info->output_h = output_h;
info->channels = channels;
}
static void stbir__calculate_transform(stbir__info *info, float s0, float t0, float s1, float t1, float *transform)
{
info->s0 = s0;
info->t0 = t0;
info->s1 = s1;
info->t1 = t1;
if (transform)
{
info->horizontal_scale = transform[0];
info->vertical_scale = transform[1];
info->horizontal_shift = transform[2];
info->vertical_shift = transform[3];
}
else
{
info->horizontal_scale = ((float)info->output_w / info->input_w) / (s1 - s0);
info->vertical_scale = ((float)info->output_h / info->input_h) / (t1 - t0);
info->horizontal_shift = s0 * info->output_w / (s1 - s0);
info->vertical_shift = t0 * info->output_h / (t1 - t0);
}
}
static void stbir__choose_filter(stbir__info *info, stbir_filter h_filter, stbir_filter v_filter)
{
if (h_filter == 0)
h_filter = stbir__use_upsampling(info->horizontal_scale) ? STBIR_DEFAULT_FILTER_UPSAMPLE : STBIR_DEFAULT_FILTER_DOWNSAMPLE;
if (v_filter == 0)
v_filter = stbir__use_upsampling(info->vertical_scale) ? STBIR_DEFAULT_FILTER_UPSAMPLE : STBIR_DEFAULT_FILTER_DOWNSAMPLE;
info->horizontal_filter = h_filter;
info->vertical_filter = v_filter;
}
static stbir_uint32 stbir__calculate_memory(stbir__info *info)
{
int pixel_margin = stbir__get_filter_pixel_margin(info->horizontal_filter, info->horizontal_scale);
int filter_height = stbir__get_filter_pixel_width(info->vertical_filter, info->vertical_scale);
info->horizontal_num_contributors = stbir__get_contributors(info->horizontal_scale, info->horizontal_filter, info->input_w, info->output_w);
info->vertical_num_contributors = stbir__get_contributors(info->vertical_scale , info->vertical_filter , info->input_h, info->output_h);
// One extra entry because floating point precision problems sometimes cause an extra to be necessary.
info->ring_buffer_num_entries = filter_height + 1;
info->horizontal_contributors_size = info->horizontal_num_contributors * sizeof(stbir__contributors);
info->horizontal_coefficients_size = stbir__get_total_horizontal_coefficients(info) * sizeof(float);
info->vertical_contributors_size = info->vertical_num_contributors * sizeof(stbir__contributors);
info->vertical_coefficients_size = stbir__get_total_vertical_coefficients(info) * sizeof(float);
info->decode_buffer_size = (info->input_w + pixel_margin * 2) * info->channels * sizeof(float);
info->horizontal_buffer_size = info->output_w * info->channels * sizeof(float);
info->ring_buffer_size = info->output_w * info->channels * info->ring_buffer_num_entries * sizeof(float);
info->encode_buffer_size = info->output_w * info->channels * sizeof(float);
STBIR_ASSERT(info->horizontal_filter != 0);
STBIR_ASSERT(info->horizontal_filter < STBIR__ARRAY_SIZE(stbir__filter_info_table)); // this now happens too late
STBIR_ASSERT(info->vertical_filter != 0);
STBIR_ASSERT(info->vertical_filter < STBIR__ARRAY_SIZE(stbir__filter_info_table)); // this now happens too late
if (stbir__use_height_upsampling(info))
// The horizontal buffer is for when we're downsampling the height and we
// can't output the result of sampling the decode buffer directly into the
// ring buffers.
info->horizontal_buffer_size = 0;
else
// The encode buffer is to retain precision in the height upsampling method
// and isn't used when height downsampling.
info->encode_buffer_size = 0;
return info->horizontal_contributors_size + info->horizontal_coefficients_size
+ info->vertical_contributors_size + info->vertical_coefficients_size
+ info->decode_buffer_size + info->horizontal_buffer_size
+ info->ring_buffer_size + info->encode_buffer_size;
}
static int stbir__resize_allocated(stbir__info *info,
const void* input_data, int input_stride_in_bytes,
void* output_data, int output_stride_in_bytes,
int alpha_channel, stbir_uint32 flags, stbir_datatype type,
stbir_edge edge_horizontal, stbir_edge edge_vertical, stbir_colorspace colorspace,
void* tempmem, size_t tempmem_size_in_bytes)
{
size_t memory_required = stbir__calculate_memory(info);
int width_stride_input = input_stride_in_bytes ? input_stride_in_bytes : info->channels * info->input_w * stbir__type_size[type];
int width_stride_output = output_stride_in_bytes ? output_stride_in_bytes : info->channels * info->output_w * stbir__type_size[type];
#ifdef STBIR_DEBUG_OVERWRITE_TEST
#define OVERWRITE_ARRAY_SIZE 8
unsigned char overwrite_output_before_pre[OVERWRITE_ARRAY_SIZE];
unsigned char overwrite_tempmem_before_pre[OVERWRITE_ARRAY_SIZE];
unsigned char overwrite_output_after_pre[OVERWRITE_ARRAY_SIZE];
unsigned char overwrite_tempmem_after_pre[OVERWRITE_ARRAY_SIZE];
size_t begin_forbidden = width_stride_output * (info->output_h - 1) + info->output_w * info->channels * stbir__type_size[type];
memcpy(overwrite_output_before_pre, &((unsigned char*)output_data)[-OVERWRITE_ARRAY_SIZE], OVERWRITE_ARRAY_SIZE);
memcpy(overwrite_output_after_pre, &((unsigned char*)output_data)[begin_forbidden], OVERWRITE_ARRAY_SIZE);
memcpy(overwrite_tempmem_before_pre, &((unsigned char*)tempmem)[-OVERWRITE_ARRAY_SIZE], OVERWRITE_ARRAY_SIZE);
memcpy(overwrite_tempmem_after_pre, &((unsigned char*)tempmem)[tempmem_size_in_bytes], OVERWRITE_ARRAY_SIZE);
#endif
STBIR_ASSERT(info->channels >= 0);
STBIR_ASSERT(info->channels <= STBIR_MAX_CHANNELS);
if (info->channels < 0 || info->channels > STBIR_MAX_CHANNELS)
return 0;
STBIR_ASSERT(info->horizontal_filter < STBIR__ARRAY_SIZE(stbir__filter_info_table));
STBIR_ASSERT(info->vertical_filter < STBIR__ARRAY_SIZE(stbir__filter_info_table));
if (info->horizontal_filter >= STBIR__ARRAY_SIZE(stbir__filter_info_table))
return 0;
if (info->vertical_filter >= STBIR__ARRAY_SIZE(stbir__filter_info_table))
return 0;
if (alpha_channel < 0)
flags |= STBIR_FLAG_ALPHA_USES_COLORSPACE | STBIR_FLAG_ALPHA_PREMULTIPLIED;
if (!(flags&STBIR_FLAG_ALPHA_USES_COLORSPACE) || !(flags&STBIR_FLAG_ALPHA_PREMULTIPLIED)) {
STBIR_ASSERT(alpha_channel >= 0 && alpha_channel < info->channels);
}
if (alpha_channel >= info->channels)
return 0;
STBIR_ASSERT(tempmem);
if (!tempmem)
return 0;
STBIR_ASSERT(tempmem_size_in_bytes >= memory_required);
if (tempmem_size_in_bytes < memory_required)
return 0;
memset(tempmem, 0, tempmem_size_in_bytes);
info->input_data = input_data;
info->input_stride_bytes = width_stride_input;
info->output_data = output_data;
info->output_stride_bytes = width_stride_output;
info->alpha_channel = alpha_channel;
info->flags = flags;
info->type = type;
info->edge_horizontal = edge_horizontal;
info->edge_vertical = edge_vertical;
info->colorspace = colorspace;
info->horizontal_coefficient_width = stbir__get_coefficient_width (info->horizontal_filter, info->horizontal_scale);
info->vertical_coefficient_width = stbir__get_coefficient_width (info->vertical_filter , info->vertical_scale );
info->horizontal_filter_pixel_width = stbir__get_filter_pixel_width (info->horizontal_filter, info->horizontal_scale);
info->vertical_filter_pixel_width = stbir__get_filter_pixel_width (info->vertical_filter , info->vertical_scale );
info->horizontal_filter_pixel_margin = stbir__get_filter_pixel_margin(info->horizontal_filter, info->horizontal_scale);
info->vertical_filter_pixel_margin = stbir__get_filter_pixel_margin(info->vertical_filter , info->vertical_scale );
info->ring_buffer_length_bytes = info->output_w * info->channels * sizeof(float);
info->decode_buffer_pixels = info->input_w + info->horizontal_filter_pixel_margin * 2;
#define STBIR__NEXT_MEMPTR(current, newtype) (newtype*)(((unsigned char*)current) + current##_size)
info->horizontal_contributors = (stbir__contributors *) tempmem;
info->horizontal_coefficients = STBIR__NEXT_MEMPTR(info->horizontal_contributors, float);
info->vertical_contributors = STBIR__NEXT_MEMPTR(info->horizontal_coefficients, stbir__contributors);
info->vertical_coefficients = STBIR__NEXT_MEMPTR(info->vertical_contributors, float);
info->decode_buffer = STBIR__NEXT_MEMPTR(info->vertical_coefficients, float);
if (stbir__use_height_upsampling(info))
{
info->horizontal_buffer = NULL;
info->ring_buffer = STBIR__NEXT_MEMPTR(info->decode_buffer, float);
info->encode_buffer = STBIR__NEXT_MEMPTR(info->ring_buffer, float);
STBIR_ASSERT((size_t)STBIR__NEXT_MEMPTR(info->encode_buffer, unsigned char) == (size_t)tempmem + tempmem_size_in_bytes);
}
else
{
info->horizontal_buffer = STBIR__NEXT_MEMPTR(info->decode_buffer, float);
info->ring_buffer = STBIR__NEXT_MEMPTR(info->horizontal_buffer, float);
info->encode_buffer = NULL;
STBIR_ASSERT((size_t)STBIR__NEXT_MEMPTR(info->ring_buffer, unsigned char) == (size_t)tempmem + tempmem_size_in_bytes);
}
#undef STBIR__NEXT_MEMPTR
// This signals that the ring buffer is empty
info->ring_buffer_begin_index = -1;
stbir__calculate_filters(info->horizontal_contributors, info->horizontal_coefficients, info->horizontal_filter, info->horizontal_scale, info->horizontal_shift, info->input_w, info->output_w);
stbir__calculate_filters(info->vertical_contributors, info->vertical_coefficients, info->vertical_filter, info->vertical_scale, info->vertical_shift, info->input_h, info->output_h);
STBIR_PROGRESS_REPORT(0);
if (stbir__use_height_upsampling(info))
stbir__buffer_loop_upsample(info);
else
stbir__buffer_loop_downsample(info);
STBIR_PROGRESS_REPORT(1);
#ifdef STBIR_DEBUG_OVERWRITE_TEST
STBIR_ASSERT(memcmp(overwrite_output_before_pre, &((unsigned char*)output_data)[-OVERWRITE_ARRAY_SIZE], OVERWRITE_ARRAY_SIZE) == 0);
STBIR_ASSERT(memcmp(overwrite_output_after_pre, &((unsigned char*)output_data)[begin_forbidden], OVERWRITE_ARRAY_SIZE) == 0);
STBIR_ASSERT(memcmp(overwrite_tempmem_before_pre, &((unsigned char*)tempmem)[-OVERWRITE_ARRAY_SIZE], OVERWRITE_ARRAY_SIZE) == 0);
STBIR_ASSERT(memcmp(overwrite_tempmem_after_pre, &((unsigned char*)tempmem)[tempmem_size_in_bytes], OVERWRITE_ARRAY_SIZE) == 0);
#endif
return 1;
}
static int stbir__resize_arbitrary(
void *alloc_context,
const void* input_data, int input_w, int input_h, int input_stride_in_bytes,
void* output_data, int output_w, int output_h, int output_stride_in_bytes,
float s0, float t0, float s1, float t1, float *transform,
int channels, int alpha_channel, stbir_uint32 flags, stbir_datatype type,
stbir_filter h_filter, stbir_filter v_filter,
stbir_edge edge_horizontal, stbir_edge edge_vertical, stbir_colorspace colorspace)
{
stbir__info info;
int result;
size_t memory_required;
void* extra_memory;
stbir__setup(&info, input_w, input_h, output_w, output_h, channels);
stbir__calculate_transform(&info, s0,t0,s1,t1,transform);
stbir__choose_filter(&info, h_filter, v_filter);
memory_required = stbir__calculate_memory(&info);
extra_memory = STBIR_MALLOC(memory_required, alloc_context);
if (!extra_memory)
return 0;
result = stbir__resize_allocated(&info, input_data, input_stride_in_bytes,
output_data, output_stride_in_bytes,
alpha_channel, flags, type,
edge_horizontal, edge_vertical,
colorspace, extra_memory, memory_required);
STBIR_FREE(extra_memory, alloc_context);
return result;
}
STBIRDEF int stbir_resize_uint8( const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels)
{
return stbir__resize_arbitrary(NULL, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,-1,0, STBIR_TYPE_UINT8, STBIR_FILTER_DEFAULT, STBIR_FILTER_DEFAULT,
STBIR_EDGE_CLAMP, STBIR_EDGE_CLAMP, STBIR_COLORSPACE_LINEAR);
}
STBIRDEF int stbir_resize_float( const float *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
float *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels)
{
return stbir__resize_arbitrary(NULL, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,-1,0, STBIR_TYPE_FLOAT, STBIR_FILTER_DEFAULT, STBIR_FILTER_DEFAULT,
STBIR_EDGE_CLAMP, STBIR_EDGE_CLAMP, STBIR_COLORSPACE_LINEAR);
}
STBIRDEF int stbir_resize_uint8_srgb(const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags)
{
return stbir__resize_arbitrary(NULL, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, STBIR_TYPE_UINT8, STBIR_FILTER_DEFAULT, STBIR_FILTER_DEFAULT,
STBIR_EDGE_CLAMP, STBIR_EDGE_CLAMP, STBIR_COLORSPACE_SRGB);
}
STBIRDEF int stbir_resize_uint8_srgb_edgemode(const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode)
{
return stbir__resize_arbitrary(NULL, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, STBIR_TYPE_UINT8, STBIR_FILTER_DEFAULT, STBIR_FILTER_DEFAULT,
edge_wrap_mode, edge_wrap_mode, STBIR_COLORSPACE_SRGB);
}
STBIRDEF int stbir_resize_uint8_generic( const unsigned char *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
unsigned char *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context)
{
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, STBIR_TYPE_UINT8, filter, filter,
edge_wrap_mode, edge_wrap_mode, space);
}
STBIRDEF int stbir_resize_uint16_generic(const stbir_uint16 *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
stbir_uint16 *output_pixels , int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context)
{
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, STBIR_TYPE_UINT16, filter, filter,
edge_wrap_mode, edge_wrap_mode, space);
}
STBIRDEF int stbir_resize_float_generic( const float *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
float *output_pixels , int output_w, int output_h, int output_stride_in_bytes,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_wrap_mode, stbir_filter filter, stbir_colorspace space,
void *alloc_context)
{
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, STBIR_TYPE_FLOAT, filter, filter,
edge_wrap_mode, edge_wrap_mode, space);
}
STBIRDEF int stbir_resize( const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context)
{
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,NULL,num_channels,alpha_channel,flags, datatype, filter_horizontal, filter_vertical,
edge_mode_horizontal, edge_mode_vertical, space);
}
STBIRDEF int stbir_resize_subpixel(const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context,
float x_scale, float y_scale,
float x_offset, float y_offset)
{
float transform[4];
transform[0] = x_scale;
transform[1] = y_scale;
transform[2] = x_offset;
transform[3] = y_offset;
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
0,0,1,1,transform,num_channels,alpha_channel,flags, datatype, filter_horizontal, filter_vertical,
edge_mode_horizontal, edge_mode_vertical, space);
}
STBIRDEF int stbir_resize_region( const void *input_pixels , int input_w , int input_h , int input_stride_in_bytes,
void *output_pixels, int output_w, int output_h, int output_stride_in_bytes,
stbir_datatype datatype,
int num_channels, int alpha_channel, int flags,
stbir_edge edge_mode_horizontal, stbir_edge edge_mode_vertical,
stbir_filter filter_horizontal, stbir_filter filter_vertical,
stbir_colorspace space, void *alloc_context,
float s0, float t0, float s1, float t1)
{
return stbir__resize_arbitrary(alloc_context, input_pixels, input_w, input_h, input_stride_in_bytes,
output_pixels, output_w, output_h, output_stride_in_bytes,
s0,t0,s1,t1,NULL,num_channels,alpha_channel,flags, datatype, filter_horizontal, filter_vertical,
edge_mode_horizontal, edge_mode_vertical, space);
}
#endif // STB_IMAGE_RESIZE_IMPLEMENTATION
/*
------------------------------------------------------------------------------
This software is available under 2 licenses -- choose whichever you prefer.
------------------------------------------------------------------------------
ALTERNATIVE A - MIT License
Copyright (c) 2017 Sean Barrett
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
------------------------------------------------------------------------------
ALTERNATIVE B - Public Domain (www.unlicense.org)
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
commercial or non-commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
------------------------------------------------------------------------------
*/
| 116,073 | C | 43.101064 | 253 | 0.614691 |
NVIDIA-Omniverse/AnariUsdDevice/thirdparty/stb_image/stb_image.h | /* stb_image - v2.26 - public domain image loader - http://nothings.org/stb
no warranty implied; use at your own risk
Do this:
#define STB_IMAGE_IMPLEMENTATION
before you include this file in *one* C or C++ file to create the implementation.
// i.e. it should look like this:
#include ...
#include ...
#include ...
#define STB_IMAGE_IMPLEMENTATION
#include "stb_image.h"
You can #define STBI_ASSERT(x) before the #include to avoid using assert.h.
And #define STBI_MALLOC, STBI_REALLOC, and STBI_FREE to avoid using malloc,realloc,free
QUICK NOTES:
Primarily of interest to game developers and other people who can
avoid problematic images and only need the trivial interface
JPEG baseline & progressive (12 bpc/arithmetic not supported, same as stock IJG lib)
PNG 1/2/4/8/16-bit-per-channel
TGA (not sure what subset, if a subset)
BMP non-1bpp, non-RLE
PSD (composited view only, no extra channels, 8/16 bit-per-channel)
GIF (*comp always reports as 4-channel)
HDR (radiance rgbE format)
PIC (Softimage PIC)
PNM (PPM and PGM binary only)
Animated GIF still needs a proper API, but here's one way to do it:
http://gist.github.com/urraka/685d9a6340b26b830d49
- decode from memory or through FILE (define STBI_NO_STDIO to remove code)
- decode from arbitrary I/O callbacks
- SIMD acceleration on x86/x64 (SSE2) and ARM (NEON)
Full documentation under "DOCUMENTATION" below.
LICENSE
See end of file for license information.
RECENT REVISION HISTORY:
2.26 (2020-07-13) many minor fixes
2.25 (2020-02-02) fix warnings
2.24 (2020-02-02) fix warnings; thread-local failure_reason and flip_vertically
2.23 (2019-08-11) fix clang static analysis warning
2.22 (2019-03-04) gif fixes, fix warnings
2.21 (2019-02-25) fix typo in comment
2.20 (2019-02-07) support utf8 filenames in Windows; fix warnings and platform ifdefs
2.19 (2018-02-11) fix warning
2.18 (2018-01-30) fix warnings
2.17 (2018-01-29) bugfix, 1-bit BMP, 16-bitness query, fix warnings
2.16 (2017-07-23) all functions have 16-bit variants; optimizations; bugfixes
2.15 (2017-03-18) fix png-1,2,4; all Imagenet JPGs; no runtime SSE detection on GCC
2.14 (2017-03-03) remove deprecated STBI_JPEG_OLD; fixes for Imagenet JPGs
2.13 (2016-12-04) experimental 16-bit API, only for PNG so far; fixes
2.12 (2016-04-02) fix typo in 2.11 PSD fix that caused crashes
2.11 (2016-04-02) 16-bit PNGS; enable SSE2 in non-gcc x64
RGB-format JPEG; remove white matting in PSD;
allocate large structures on the stack;
correct channel count for PNG & BMP
2.10 (2016-01-22) avoid warning introduced in 2.09
2.09 (2016-01-16) 16-bit TGA; comments in PNM files; STBI_REALLOC_SIZED
See end of file for full revision history.
============================ Contributors =========================
Image formats Extensions, features
Sean Barrett (jpeg, png, bmp) Jetro Lauha (stbi_info)
Nicolas Schulz (hdr, psd) Martin "SpartanJ" Golini (stbi_info)
Jonathan Dummer (tga) James "moose2000" Brown (iPhone PNG)
Jean-Marc Lienher (gif) Ben "Disch" Wenger (io callbacks)
Tom Seddon (pic) Omar Cornut (1/2/4-bit PNG)
Thatcher Ulrich (psd) Nicolas Guillemot (vertical flip)
Ken Miller (pgm, ppm) Richard Mitton (16-bit PSD)
github:urraka (animated gif) Junggon Kim (PNM comments)
Christopher Forseth (animated gif) Daniel Gibson (16-bit TGA)
socks-the-fox (16-bit PNG)
Jeremy Sawicki (handle all ImageNet JPGs)
Optimizations & bugfixes Mikhail Morozov (1-bit BMP)
Fabian "ryg" Giesen Anael Seghezzi (is-16-bit query)
Arseny Kapoulkine
John-Mark Allen
Carmelo J Fdez-Aguera
Bug & warning fixes
Marc LeBlanc David Woo Guillaume George Martins Mozeiko
Christpher Lloyd Jerry Jansson Joseph Thomson Blazej Dariusz Roszkowski
Phil Jordan Dave Moore Roy Eltham
Hayaki Saito Nathan Reed Won Chun
Luke Graham Johan Duparc Nick Verigakis the Horde3D community
Thomas Ruf Ronny Chevalier github:rlyeh
Janez Zemva John Bartholomew Michal Cichon github:romigrou
Jonathan Blow Ken Hamada Tero Hanninen github:svdijk
Laurent Gomila Cort Stratton github:snagar
Aruelien Pocheville Sergio Gonzalez Thibault Reuille github:Zelex
Cass Everitt Ryamond Barbiero github:grim210
Paul Du Bois Engin Manap Aldo Culquicondor github:sammyhw
Philipp Wiesemann Dale Weiler Oriol Ferrer Mesia github:phprus
Josh Tobin Matthew Gregan github:poppolopoppo
Julian Raschke Gregory Mullen Christian Floisand github:darealshinji
Baldur Karlsson Kevin Schmidt JR Smith github:Michaelangel007
Brad Weinberger Matvey Cherevko [reserved]
Luca Sas Alexander Veselov Zack Middleton [reserved]
Ryan C. Gordon [reserved] [reserved]
DO NOT ADD YOUR NAME HERE
To add your name to the credits, pick a random blank space in the middle and fill it.
80% of merge conflicts on stb PRs are due to people adding their name at the end
of the credits.
*/
#ifndef STBI_INCLUDE_STB_IMAGE_H
#define STBI_INCLUDE_STB_IMAGE_H
// DOCUMENTATION
//
// Limitations:
// - no 12-bit-per-channel JPEG
// - no JPEGs with arithmetic coding
// - GIF always returns *comp=4
//
// Basic usage (see HDR discussion below for HDR usage):
// int x,y,n;
// unsigned char *data = stbi_load(filename, &x, &y, &n, 0);
// // ... process data if not NULL ...
// // ... x = width, y = height, n = # 8-bit components per pixel ...
// // ... replace '0' with '1'..'4' to force that many components per pixel
// // ... but 'n' will always be the number that it would have been if you said 0
// stbi_image_free(data)
//
// Standard parameters:
// int *x -- outputs image width in pixels
// int *y -- outputs image height in pixels
// int *channels_in_file -- outputs # of image components in image file
// int desired_channels -- if non-zero, # of image components requested in result
//
// The return value from an image loader is an 'unsigned char *' which points
// to the pixel data, or NULL on an allocation failure or if the image is
// corrupt or invalid. The pixel data consists of *y scanlines of *x pixels,
// with each pixel consisting of N interleaved 8-bit components; the first
// pixel pointed to is top-left-most in the image. There is no padding between
// image scanlines or between pixels, regardless of format. The number of
// components N is 'desired_channels' if desired_channels is non-zero, or
// *channels_in_file otherwise. If desired_channels is non-zero,
// *channels_in_file has the number of components that _would_ have been
// output otherwise. E.g. if you set desired_channels to 4, you will always
// get RGBA output, but you can check *channels_in_file to see if it's trivially
// opaque because e.g. there were only 3 channels in the source image.
//
// An output image with N components has the following components interleaved
// in this order in each pixel:
//
// N=#comp components
// 1 grey
// 2 grey, alpha
// 3 red, green, blue
// 4 red, green, blue, alpha
//
// If image loading fails for any reason, the return value will be NULL,
// and *x, *y, *channels_in_file will be unchanged. The function
// stbi_failure_reason() can be queried for an extremely brief, end-user
// unfriendly explanation of why the load failed. Define STBI_NO_FAILURE_STRINGS
// to avoid compiling these strings at all, and STBI_FAILURE_USERMSG to get slightly
// more user-friendly ones.
//
// Paletted PNG, BMP, GIF, and PIC images are automatically depalettized.
//
// ===========================================================================
//
// UNICODE:
//
// If compiling for Windows and you wish to use Unicode filenames, compile
// with
// #define STBI_WINDOWS_UTF8
// and pass utf8-encoded filenames. Call stbi_convert_wchar_to_utf8 to convert
// Windows wchar_t filenames to utf8.
//
// ===========================================================================
//
// Philosophy
//
// stb libraries are designed with the following priorities:
//
// 1. easy to use
// 2. easy to maintain
// 3. good performance
//
// Sometimes I let "good performance" creep up in priority over "easy to maintain",
// and for best performance I may provide less-easy-to-use APIs that give higher
// performance, in addition to the easy-to-use ones. Nevertheless, it's important
// to keep in mind that from the standpoint of you, a client of this library,
// all you care about is #1 and #3, and stb libraries DO NOT emphasize #3 above all.
//
// Some secondary priorities arise directly from the first two, some of which
// provide more explicit reasons why performance can't be emphasized.
//
// - Portable ("ease of use")
// - Small source code footprint ("easy to maintain")
// - No dependencies ("ease of use")
//
// ===========================================================================
//
// I/O callbacks
//
// I/O callbacks allow you to read from arbitrary sources, like packaged
// files or some other source. Data read from callbacks are processed
// through a small internal buffer (currently 128 bytes) to try to reduce
// overhead.
//
// The three functions you must define are "read" (reads some bytes of data),
// "skip" (skips some bytes of data), "eof" (reports if the stream is at the end).
//
// ===========================================================================
//
// SIMD support
//
// The JPEG decoder will try to automatically use SIMD kernels on x86 when
// supported by the compiler. For ARM Neon support, you must explicitly
// request it.
//
// (The old do-it-yourself SIMD API is no longer supported in the current
// code.)
//
// On x86, SSE2 will automatically be used when available based on a run-time
// test; if not, the generic C versions are used as a fall-back. On ARM targets,
// the typical path is to have separate builds for NEON and non-NEON devices
// (at least this is true for iOS and Android). Therefore, the NEON support is
// toggled by a build flag: define STBI_NEON to get NEON loops.
//
// If for some reason you do not want to use any of SIMD code, or if
// you have issues compiling it, you can disable it entirely by
// defining STBI_NO_SIMD.
//
// ===========================================================================
//
// HDR image support (disable by defining STBI_NO_HDR)
//
// stb_image supports loading HDR images in general, and currently the Radiance
// .HDR file format specifically. You can still load any file through the existing
// interface; if you attempt to load an HDR file, it will be automatically remapped
// to LDR, assuming gamma 2.2 and an arbitrary scale factor defaulting to 1;
// both of these constants can be reconfigured through this interface:
//
// stbi_hdr_to_ldr_gamma(2.2f);
// stbi_hdr_to_ldr_scale(1.0f);
//
// (note, do not use _inverse_ constants; stbi_image will invert them
// appropriately).
//
// Additionally, there is a new, parallel interface for loading files as
// (linear) floats to preserve the full dynamic range:
//
// float *data = stbi_loadf(filename, &x, &y, &n, 0);
//
// If you load LDR images through this interface, those images will
// be promoted to floating point values, run through the inverse of
// constants corresponding to the above:
//
// stbi_ldr_to_hdr_scale(1.0f);
// stbi_ldr_to_hdr_gamma(2.2f);
//
// Finally, given a filename (or an open file or memory block--see header
// file for details) containing image data, you can query for the "most
// appropriate" interface to use (that is, whether the image is HDR or
// not), using:
//
// stbi_is_hdr(char *filename);
//
// ===========================================================================
//
// iPhone PNG support:
//
// By default we convert iphone-formatted PNGs back to RGB, even though
// they are internally encoded differently. You can disable this conversion
// by calling stbi_convert_iphone_png_to_rgb(0), in which case
// you will always just get the native iphone "format" through (which
// is BGR stored in RGB).
//
// Call stbi_set_unpremultiply_on_load(1) as well to force a divide per
// pixel to remove any premultiplied alpha *only* if the image file explicitly
// says there's premultiplied data (currently only happens in iPhone images,
// and only if iPhone convert-to-rgb processing is on).
//
// ===========================================================================
//
// ADDITIONAL CONFIGURATION
//
// - You can suppress implementation of any of the decoders to reduce
// your code footprint by #defining one or more of the following
// symbols before creating the implementation.
//
// STBI_NO_JPEG
// STBI_NO_PNG
// STBI_NO_BMP
// STBI_NO_PSD
// STBI_NO_TGA
// STBI_NO_GIF
// STBI_NO_HDR
// STBI_NO_PIC
// STBI_NO_PNM (.ppm and .pgm)
//
// - You can request *only* certain decoders and suppress all other ones
// (this will be more forward-compatible, as addition of new decoders
// doesn't require you to disable them explicitly):
//
// STBI_ONLY_JPEG
// STBI_ONLY_PNG
// STBI_ONLY_BMP
// STBI_ONLY_PSD
// STBI_ONLY_TGA
// STBI_ONLY_GIF
// STBI_ONLY_HDR
// STBI_ONLY_PIC
// STBI_ONLY_PNM (.ppm and .pgm)
//
// - If you use STBI_NO_PNG (or _ONLY_ without PNG), and you still
// want the zlib decoder to be available, #define STBI_SUPPORT_ZLIB
//
// - If you define STBI_MAX_DIMENSIONS, stb_image will reject images greater
// than that size (in either width or height) without further processing.
// This is to let programs in the wild set an upper bound to prevent
// denial-of-service attacks on untrusted data, as one could generate a
// valid image of gigantic dimensions and force stb_image to allocate a
// huge block of memory and spend disproportionate time decoding it. By
// default this is set to (1 << 24), which is 16777216, but that's still
// very big.
#ifndef STBI_NO_STDIO
#include <stdio.h>
#endif // STBI_NO_STDIO
#define STBI_VERSION 1
enum
{
STBI_default = 0, // only used for desired_channels
STBI_grey = 1,
STBI_grey_alpha = 2,
STBI_rgb = 3,
STBI_rgb_alpha = 4
};
#include <stdlib.h>
typedef unsigned char stbi_uc;
typedef unsigned short stbi_us;
#ifdef __cplusplus
extern "C" {
#endif
#ifndef STBIDEF
#ifdef STB_IMAGE_STATIC
#define STBIDEF static
#else
#define STBIDEF extern
#endif
#endif
//////////////////////////////////////////////////////////////////////////////
//
// PRIMARY API - works on images of any type
//
//
// load image by filename, open file, or memory buffer
//
typedef struct
{
int (*read) (void *user,char *data,int size); // fill 'data' with 'size' bytes. return number of bytes actually read
void (*skip) (void *user,int n); // skip the next 'n' bytes, or 'unget' the last -n bytes if negative
int (*eof) (void *user); // returns nonzero if we are at end of file/data
} stbi_io_callbacks;
////////////////////////////////////
//
// 8-bits-per-channel interface
//
STBIDEF stbi_uc *stbi_load_from_memory (stbi_uc const *buffer, int len , int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF stbi_uc *stbi_load_from_callbacks(stbi_io_callbacks const *clbk , void *user, int *x, int *y, int *channels_in_file, int desired_channels);
#ifndef STBI_NO_STDIO
STBIDEF stbi_uc *stbi_load (char const *filename, int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF stbi_uc *stbi_load_from_file (FILE *f, int *x, int *y, int *channels_in_file, int desired_channels);
// for stbi_load_from_file, file pointer is left pointing immediately after image
#endif
#ifndef STBI_NO_GIF
STBIDEF stbi_uc *stbi_load_gif_from_memory(stbi_uc const *buffer, int len, int **delays, int *x, int *y, int *z, int *comp, int req_comp);
#endif
#ifdef STBI_WINDOWS_UTF8
STBIDEF int stbi_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);
#endif
////////////////////////////////////
//
// 16-bits-per-channel interface
//
STBIDEF stbi_us *stbi_load_16_from_memory (stbi_uc const *buffer, int len, int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF stbi_us *stbi_load_16_from_callbacks(stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *channels_in_file, int desired_channels);
#ifndef STBI_NO_STDIO
STBIDEF stbi_us *stbi_load_16 (char const *filename, int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF stbi_us *stbi_load_from_file_16(FILE *f, int *x, int *y, int *channels_in_file, int desired_channels);
#endif
////////////////////////////////////
//
// float-per-channel interface
//
#ifndef STBI_NO_LINEAR
STBIDEF float *stbi_loadf_from_memory (stbi_uc const *buffer, int len, int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF float *stbi_loadf_from_callbacks (stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *channels_in_file, int desired_channels);
#ifndef STBI_NO_STDIO
STBIDEF float *stbi_loadf (char const *filename, int *x, int *y, int *channels_in_file, int desired_channels);
STBIDEF float *stbi_loadf_from_file (FILE *f, int *x, int *y, int *channels_in_file, int desired_channels);
#endif
#endif
#ifndef STBI_NO_HDR
STBIDEF void stbi_hdr_to_ldr_gamma(float gamma);
STBIDEF void stbi_hdr_to_ldr_scale(float scale);
#endif // STBI_NO_HDR
#ifndef STBI_NO_LINEAR
STBIDEF void stbi_ldr_to_hdr_gamma(float gamma);
STBIDEF void stbi_ldr_to_hdr_scale(float scale);
#endif // STBI_NO_LINEAR
// stbi_is_hdr is always defined, but always returns false if STBI_NO_HDR
STBIDEF int stbi_is_hdr_from_callbacks(stbi_io_callbacks const *clbk, void *user);
STBIDEF int stbi_is_hdr_from_memory(stbi_uc const *buffer, int len);
#ifndef STBI_NO_STDIO
STBIDEF int stbi_is_hdr (char const *filename);
STBIDEF int stbi_is_hdr_from_file(FILE *f);
#endif // STBI_NO_STDIO
// get a VERY brief reason for failure
// on most compilers (and ALL modern mainstream compilers) this is threadsafe
STBIDEF const char *stbi_failure_reason (void);
// free the loaded image -- this is just free()
STBIDEF void stbi_image_free (void *retval_from_stbi_load);
// get image dimensions & components without fully decoding
STBIDEF int stbi_info_from_memory(stbi_uc const *buffer, int len, int *x, int *y, int *comp);
STBIDEF int stbi_info_from_callbacks(stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *comp);
STBIDEF int stbi_is_16_bit_from_memory(stbi_uc const *buffer, int len);
STBIDEF int stbi_is_16_bit_from_callbacks(stbi_io_callbacks const *clbk, void *user);
#ifndef STBI_NO_STDIO
STBIDEF int stbi_info (char const *filename, int *x, int *y, int *comp);
STBIDEF int stbi_info_from_file (FILE *f, int *x, int *y, int *comp);
STBIDEF int stbi_is_16_bit (char const *filename);
STBIDEF int stbi_is_16_bit_from_file(FILE *f);
#endif
// for image formats that explicitly notate that they have premultiplied alpha,
// we just return the colors as stored in the file. set this flag to force
// unpremultiplication. results are undefined if the unpremultiply overflow.
STBIDEF void stbi_set_unpremultiply_on_load(int flag_true_if_should_unpremultiply);
// indicate whether we should process iphone images back to canonical format,
// or just pass them through "as-is"
STBIDEF void stbi_convert_iphone_png_to_rgb(int flag_true_if_should_convert);
// flip the image vertically, so the first pixel in the output array is the bottom left
STBIDEF void stbi_set_flip_vertically_on_load(int flag_true_if_should_flip);
// as above, but only applies to images loaded on the thread that calls the function
// this function is only available if your compiler supports thread-local variables;
// calling it will fail to link if your compiler doesn't
STBIDEF void stbi_set_flip_vertically_on_load_thread(int flag_true_if_should_flip);
// ZLIB client - used by PNG, available for other purposes
STBIDEF char *stbi_zlib_decode_malloc_guesssize(const char *buffer, int len, int initial_size, int *outlen);
STBIDEF char *stbi_zlib_decode_malloc_guesssize_headerflag(const char *buffer, int len, int initial_size, int *outlen, int parse_header);
STBIDEF char *stbi_zlib_decode_malloc(const char *buffer, int len, int *outlen);
STBIDEF int stbi_zlib_decode_buffer(char *obuffer, int olen, const char *ibuffer, int ilen);
STBIDEF char *stbi_zlib_decode_noheader_malloc(const char *buffer, int len, int *outlen);
STBIDEF int stbi_zlib_decode_noheader_buffer(char *obuffer, int olen, const char *ibuffer, int ilen);
#ifdef __cplusplus
}
#endif
//
//
//// end header file /////////////////////////////////////////////////////
#endif // STBI_INCLUDE_STB_IMAGE_H
#ifdef STB_IMAGE_IMPLEMENTATION
#if defined(STBI_ONLY_JPEG) || defined(STBI_ONLY_PNG) || defined(STBI_ONLY_BMP) \
|| defined(STBI_ONLY_TGA) || defined(STBI_ONLY_GIF) || defined(STBI_ONLY_PSD) \
|| defined(STBI_ONLY_HDR) || defined(STBI_ONLY_PIC) || defined(STBI_ONLY_PNM) \
|| defined(STBI_ONLY_ZLIB)
#ifndef STBI_ONLY_JPEG
#define STBI_NO_JPEG
#endif
#ifndef STBI_ONLY_PNG
#define STBI_NO_PNG
#endif
#ifndef STBI_ONLY_BMP
#define STBI_NO_BMP
#endif
#ifndef STBI_ONLY_PSD
#define STBI_NO_PSD
#endif
#ifndef STBI_ONLY_TGA
#define STBI_NO_TGA
#endif
#ifndef STBI_ONLY_GIF
#define STBI_NO_GIF
#endif
#ifndef STBI_ONLY_HDR
#define STBI_NO_HDR
#endif
#ifndef STBI_ONLY_PIC
#define STBI_NO_PIC
#endif
#ifndef STBI_ONLY_PNM
#define STBI_NO_PNM
#endif
#endif
#if defined(STBI_NO_PNG) && !defined(STBI_SUPPORT_ZLIB) && !defined(STBI_NO_ZLIB)
#define STBI_NO_ZLIB
#endif
#include <stdarg.h>
#include <stddef.h> // ptrdiff_t on osx
#include <stdlib.h>
#include <string.h>
#include <limits.h>
#if !defined(STBI_NO_LINEAR) || !defined(STBI_NO_HDR)
#include <math.h> // ldexp, pow
#endif
#ifndef STBI_NO_STDIO
#include <stdio.h>
#endif
#ifndef STBI_ASSERT
#include <assert.h>
#define STBI_ASSERT(x) assert(x)
#endif
#ifdef __cplusplus
#define STBI_EXTERN extern "C"
#else
#define STBI_EXTERN extern
#endif
#ifndef _MSC_VER
#ifdef __cplusplus
#define stbi_inline inline
#else
#define stbi_inline
#endif
#else
#define stbi_inline __forceinline
#endif
#ifndef STBI_NO_THREAD_LOCALS
#if defined(__cplusplus) && __cplusplus >= 201103L
#define STBI_THREAD_LOCAL thread_local
#elif defined(__GNUC__) && __GNUC__ < 5
#define STBI_THREAD_LOCAL __thread
#elif defined(_MSC_VER)
#define STBI_THREAD_LOCAL __declspec(thread)
#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L && !defined(__STDC_NO_THREADS__)
#define STBI_THREAD_LOCAL _Thread_local
#endif
#ifndef STBI_THREAD_LOCAL
#if defined(__GNUC__)
#define STBI_THREAD_LOCAL __thread
#endif
#endif
#endif
#ifdef _MSC_VER
typedef unsigned short stbi__uint16;
typedef signed short stbi__int16;
typedef unsigned int stbi__uint32;
typedef signed int stbi__int32;
#else
#include <stdint.h>
typedef uint16_t stbi__uint16;
typedef int16_t stbi__int16;
typedef uint32_t stbi__uint32;
typedef int32_t stbi__int32;
#endif
// should produce compiler error if size is wrong
typedef unsigned char validate_uint32[sizeof(stbi__uint32)==4 ? 1 : -1];
#ifdef _MSC_VER
#define STBI_NOTUSED(v) (void)(v)
#else
#define STBI_NOTUSED(v) (void)sizeof(v)
#endif
#ifdef _MSC_VER
#define STBI_HAS_LROTL
#endif
#ifdef STBI_HAS_LROTL
#define stbi_lrot(x,y) _lrotl(x,y)
#else
#define stbi_lrot(x,y) (((x) << (y)) | ((x) >> (32 - (y))))
#endif
#if defined(STBI_MALLOC) && defined(STBI_FREE) && (defined(STBI_REALLOC) || defined(STBI_REALLOC_SIZED))
// ok
#elif !defined(STBI_MALLOC) && !defined(STBI_FREE) && !defined(STBI_REALLOC) && !defined(STBI_REALLOC_SIZED)
// ok
#else
#error "Must define all or none of STBI_MALLOC, STBI_FREE, and STBI_REALLOC (or STBI_REALLOC_SIZED)."
#endif
#ifndef STBI_MALLOC
#define STBI_MALLOC(sz) malloc(sz)
#define STBI_REALLOC(p,newsz) realloc(p,newsz)
#define STBI_FREE(p) free(p)
#endif
#ifndef STBI_REALLOC_SIZED
#define STBI_REALLOC_SIZED(p,oldsz,newsz) STBI_REALLOC(p,newsz)
#endif
// x86/x64 detection
#if defined(__x86_64__) || defined(_M_X64)
#define STBI__X64_TARGET
#elif defined(__i386) || defined(_M_IX86)
#define STBI__X86_TARGET
#endif
#if defined(__GNUC__) && defined(STBI__X86_TARGET) && !defined(__SSE2__) && !defined(STBI_NO_SIMD)
// gcc doesn't support sse2 intrinsics unless you compile with -msse2,
// which in turn means it gets to use SSE2 everywhere. This is unfortunate,
// but previous attempts to provide the SSE2 functions with runtime
// detection caused numerous issues. The way architecture extensions are
// exposed in GCC/Clang is, sadly, not really suited for one-file libs.
// New behavior: if compiled with -msse2, we use SSE2 without any
// detection; if not, we don't use it at all.
#define STBI_NO_SIMD
#endif
#if defined(__MINGW32__) && defined(STBI__X86_TARGET) && !defined(STBI_MINGW_ENABLE_SSE2) && !defined(STBI_NO_SIMD)
// Note that __MINGW32__ doesn't actually mean 32-bit, so we have to avoid STBI__X64_TARGET
//
// 32-bit MinGW wants ESP to be 16-byte aligned, but this is not in the
// Windows ABI and VC++ as well as Windows DLLs don't maintain that invariant.
// As a result, enabling SSE2 on 32-bit MinGW is dangerous when not
// simultaneously enabling "-mstackrealign".
//
// See https://github.com/nothings/stb/issues/81 for more information.
//
// So default to no SSE2 on 32-bit MinGW. If you've read this far and added
// -mstackrealign to your build settings, feel free to #define STBI_MINGW_ENABLE_SSE2.
#define STBI_NO_SIMD
#endif
#if !defined(STBI_NO_SIMD) && (defined(STBI__X86_TARGET) || defined(STBI__X64_TARGET))
#define STBI_SSE2
#include <emmintrin.h>
#ifdef _MSC_VER
#if _MSC_VER >= 1400 // not VC6
#include <intrin.h> // __cpuid
static int stbi__cpuid3(void)
{
int info[4];
__cpuid(info,1);
return info[3];
}
#else
static int stbi__cpuid3(void)
{
int res;
__asm {
mov eax,1
cpuid
mov res,edx
}
return res;
}
#endif
#define STBI_SIMD_ALIGN(type, name) __declspec(align(16)) type name
#if !defined(STBI_NO_JPEG) && defined(STBI_SSE2)
static int stbi__sse2_available(void)
{
int info3 = stbi__cpuid3();
return ((info3 >> 26) & 1) != 0;
}
#endif
#else // assume GCC-style if not VC++
#define STBI_SIMD_ALIGN(type, name) type name __attribute__((aligned(16)))
#if !defined(STBI_NO_JPEG) && defined(STBI_SSE2)
static int stbi__sse2_available(void)
{
// If we're even attempting to compile this on GCC/Clang, that means
// -msse2 is on, which means the compiler is allowed to use SSE2
// instructions at will, and so are we.
return 1;
}
#endif
#endif
#endif
// ARM NEON
#if defined(STBI_NO_SIMD) && defined(STBI_NEON)
#undef STBI_NEON
#endif
#ifdef STBI_NEON
#include <arm_neon.h>
// assume GCC or Clang on ARM targets
#define STBI_SIMD_ALIGN(type, name) type name __attribute__((aligned(16)))
#endif
#ifndef STBI_SIMD_ALIGN
#define STBI_SIMD_ALIGN(type, name) type name
#endif
#ifndef STBI_MAX_DIMENSIONS
#define STBI_MAX_DIMENSIONS (1 << 24)
#endif
///////////////////////////////////////////////
//
// stbi__context struct and start_xxx functions
// stbi__context structure is our basic context used by all images, so it
// contains all the IO context, plus some basic image information
typedef struct
{
stbi__uint32 img_x, img_y;
int img_n, img_out_n;
stbi_io_callbacks io;
void *io_user_data;
int read_from_callbacks;
int buflen;
stbi_uc buffer_start[128];
int callback_already_read;
stbi_uc *img_buffer, *img_buffer_end;
stbi_uc *img_buffer_original, *img_buffer_original_end;
} stbi__context;
static void stbi__refill_buffer(stbi__context *s);
// initialize a memory-decode context
static void stbi__start_mem(stbi__context *s, stbi_uc const *buffer, int len)
{
s->io.read = NULL;
s->read_from_callbacks = 0;
s->callback_already_read = 0;
s->img_buffer = s->img_buffer_original = (stbi_uc *) buffer;
s->img_buffer_end = s->img_buffer_original_end = (stbi_uc *) buffer+len;
}
// initialize a callback-based context
static void stbi__start_callbacks(stbi__context *s, stbi_io_callbacks *c, void *user)
{
s->io = *c;
s->io_user_data = user;
s->buflen = sizeof(s->buffer_start);
s->read_from_callbacks = 1;
s->callback_already_read = 0;
s->img_buffer = s->img_buffer_original = s->buffer_start;
stbi__refill_buffer(s);
s->img_buffer_original_end = s->img_buffer_end;
}
#ifndef STBI_NO_STDIO
static int stbi__stdio_read(void *user, char *data, int size)
{
return (int) fread(data,1,size,(FILE*) user);
}
static void stbi__stdio_skip(void *user, int n)
{
int ch;
fseek((FILE*) user, n, SEEK_CUR);
ch = fgetc((FILE*) user); /* have to read a byte to reset feof()'s flag */
if (ch != EOF) {
ungetc(ch, (FILE *) user); /* push byte back onto stream if valid. */
}
}
static int stbi__stdio_eof(void *user)
{
return feof((FILE*) user) || ferror((FILE *) user);
}
static stbi_io_callbacks stbi__stdio_callbacks =
{
stbi__stdio_read,
stbi__stdio_skip,
stbi__stdio_eof,
};
static void stbi__start_file(stbi__context *s, FILE *f)
{
stbi__start_callbacks(s, &stbi__stdio_callbacks, (void *) f);
}
//static void stop_file(stbi__context *s) { }
#endif // !STBI_NO_STDIO
static void stbi__rewind(stbi__context *s)
{
// conceptually rewind SHOULD rewind to the beginning of the stream,
// but we just rewind to the beginning of the initial buffer, because
// we only use it after doing 'test', which only ever looks at at most 92 bytes
s->img_buffer = s->img_buffer_original;
s->img_buffer_end = s->img_buffer_original_end;
}
enum
{
STBI_ORDER_RGB,
STBI_ORDER_BGR
};
typedef struct
{
int bits_per_channel;
int num_channels;
int channel_order;
} stbi__result_info;
#ifndef STBI_NO_JPEG
static int stbi__jpeg_test(stbi__context *s);
static void *stbi__jpeg_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__jpeg_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_PNG
static int stbi__png_test(stbi__context *s);
static void *stbi__png_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__png_info(stbi__context *s, int *x, int *y, int *comp);
static int stbi__png_is16(stbi__context *s);
#endif
#ifndef STBI_NO_BMP
static int stbi__bmp_test(stbi__context *s);
static void *stbi__bmp_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__bmp_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_TGA
static int stbi__tga_test(stbi__context *s);
static void *stbi__tga_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__tga_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_PSD
static int stbi__psd_test(stbi__context *s);
static void *stbi__psd_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri, int bpc);
static int stbi__psd_info(stbi__context *s, int *x, int *y, int *comp);
static int stbi__psd_is16(stbi__context *s);
#endif
#ifndef STBI_NO_HDR
static int stbi__hdr_test(stbi__context *s);
static float *stbi__hdr_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__hdr_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_PIC
static int stbi__pic_test(stbi__context *s);
static void *stbi__pic_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__pic_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_GIF
static int stbi__gif_test(stbi__context *s);
static void *stbi__gif_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static void *stbi__load_gif_main(stbi__context *s, int **delays, int *x, int *y, int *z, int *comp, int req_comp);
static int stbi__gif_info(stbi__context *s, int *x, int *y, int *comp);
#endif
#ifndef STBI_NO_PNM
static int stbi__pnm_test(stbi__context *s);
static void *stbi__pnm_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri);
static int stbi__pnm_info(stbi__context *s, int *x, int *y, int *comp);
#endif
static
#ifdef STBI_THREAD_LOCAL
STBI_THREAD_LOCAL
#endif
const char *stbi__g_failure_reason;
STBIDEF const char *stbi_failure_reason(void)
{
return stbi__g_failure_reason;
}
#ifndef STBI_NO_FAILURE_STRINGS
static int stbi__err(const char *str)
{
stbi__g_failure_reason = str;
return 0;
}
#endif
static void *stbi__malloc(size_t size)
{
return STBI_MALLOC(size);
}
// stb_image uses ints pervasively, including for offset calculations.
// therefore the largest decoded image size we can support with the
// current code, even on 64-bit targets, is INT_MAX. this is not a
// significant limitation for the intended use case.
//
// we do, however, need to make sure our size calculations don't
// overflow. hence a few helper functions for size calculations that
// multiply integers together, making sure that they're non-negative
// and no overflow occurs.
// return 1 if the sum is valid, 0 on overflow.
// negative terms are considered invalid.
static int stbi__addsizes_valid(int a, int b)
{
if (b < 0) return 0;
// now 0 <= b <= INT_MAX, hence also
// 0 <= INT_MAX - b <= INTMAX.
// And "a + b <= INT_MAX" (which might overflow) is the
// same as a <= INT_MAX - b (no overflow)
return a <= INT_MAX - b;
}
// returns 1 if the product is valid, 0 on overflow.
// negative factors are considered invalid.
static int stbi__mul2sizes_valid(int a, int b)
{
if (a < 0 || b < 0) return 0;
if (b == 0) return 1; // mul-by-0 is always safe
// portable way to check for no overflows in a*b
return a <= INT_MAX/b;
}
#if !defined(STBI_NO_JPEG) || !defined(STBI_NO_PNG) || !defined(STBI_NO_TGA) || !defined(STBI_NO_HDR)
// returns 1 if "a*b + add" has no negative terms/factors and doesn't overflow
static int stbi__mad2sizes_valid(int a, int b, int add)
{
return stbi__mul2sizes_valid(a, b) && stbi__addsizes_valid(a*b, add);
}
#endif
// returns 1 if "a*b*c + add" has no negative terms/factors and doesn't overflow
static int stbi__mad3sizes_valid(int a, int b, int c, int add)
{
return stbi__mul2sizes_valid(a, b) && stbi__mul2sizes_valid(a*b, c) &&
stbi__addsizes_valid(a*b*c, add);
}
// returns 1 if "a*b*c*d + add" has no negative terms/factors and doesn't overflow
#if !defined(STBI_NO_LINEAR) || !defined(STBI_NO_HDR)
static int stbi__mad4sizes_valid(int a, int b, int c, int d, int add)
{
return stbi__mul2sizes_valid(a, b) && stbi__mul2sizes_valid(a*b, c) &&
stbi__mul2sizes_valid(a*b*c, d) && stbi__addsizes_valid(a*b*c*d, add);
}
#endif
#if !defined(STBI_NO_JPEG) || !defined(STBI_NO_PNG) || !defined(STBI_NO_TGA) || !defined(STBI_NO_HDR)
// mallocs with size overflow checking
static void *stbi__malloc_mad2(int a, int b, int add)
{
if (!stbi__mad2sizes_valid(a, b, add)) return NULL;
return stbi__malloc(a*b + add);
}
#endif
static void *stbi__malloc_mad3(int a, int b, int c, int add)
{
if (!stbi__mad3sizes_valid(a, b, c, add)) return NULL;
return stbi__malloc(a*b*c + add);
}
#if !defined(STBI_NO_LINEAR) || !defined(STBI_NO_HDR)
static void *stbi__malloc_mad4(int a, int b, int c, int d, int add)
{
if (!stbi__mad4sizes_valid(a, b, c, d, add)) return NULL;
return stbi__malloc(a*b*c*d + add);
}
#endif
// stbi__err - error
// stbi__errpf - error returning pointer to float
// stbi__errpuc - error returning pointer to unsigned char
#ifdef STBI_NO_FAILURE_STRINGS
#define stbi__err(x,y) 0
#elif defined(STBI_FAILURE_USERMSG)
#define stbi__err(x,y) stbi__err(y)
#else
#define stbi__err(x,y) stbi__err(x)
#endif
#define stbi__errpf(x,y) ((float *)(size_t) (stbi__err(x,y)?NULL:NULL))
#define stbi__errpuc(x,y) ((unsigned char *)(size_t) (stbi__err(x,y)?NULL:NULL))
STBIDEF void stbi_image_free(void *retval_from_stbi_load)
{
STBI_FREE(retval_from_stbi_load);
}
#ifndef STBI_NO_LINEAR
static float *stbi__ldr_to_hdr(stbi_uc *data, int x, int y, int comp);
#endif
#ifndef STBI_NO_HDR
static stbi_uc *stbi__hdr_to_ldr(float *data, int x, int y, int comp);
#endif
static int stbi__vertically_flip_on_load_global = 0;
STBIDEF void stbi_set_flip_vertically_on_load(int flag_true_if_should_flip)
{
stbi__vertically_flip_on_load_global = flag_true_if_should_flip;
}
#ifndef STBI_THREAD_LOCAL
#define stbi__vertically_flip_on_load stbi__vertically_flip_on_load_global
#else
static STBI_THREAD_LOCAL int stbi__vertically_flip_on_load_local, stbi__vertically_flip_on_load_set;
STBIDEF void stbi_set_flip_vertically_on_load_thread(int flag_true_if_should_flip)
{
stbi__vertically_flip_on_load_local = flag_true_if_should_flip;
stbi__vertically_flip_on_load_set = 1;
}
#define stbi__vertically_flip_on_load (stbi__vertically_flip_on_load_set \
? stbi__vertically_flip_on_load_local \
: stbi__vertically_flip_on_load_global)
#endif // STBI_THREAD_LOCAL
static void *stbi__load_main(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri, int bpc)
{
memset(ri, 0, sizeof(*ri)); // make sure it's initialized if we add new fields
ri->bits_per_channel = 8; // default is 8 so most paths don't have to be changed
ri->channel_order = STBI_ORDER_RGB; // all current input & output are this, but this is here so we can add BGR order
ri->num_channels = 0;
#ifndef STBI_NO_JPEG
if (stbi__jpeg_test(s)) return stbi__jpeg_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_PNG
if (stbi__png_test(s)) return stbi__png_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_BMP
if (stbi__bmp_test(s)) return stbi__bmp_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_GIF
if (stbi__gif_test(s)) return stbi__gif_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_PSD
if (stbi__psd_test(s)) return stbi__psd_load(s,x,y,comp,req_comp, ri, bpc);
#else
STBI_NOTUSED(bpc);
#endif
#ifndef STBI_NO_PIC
if (stbi__pic_test(s)) return stbi__pic_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_PNM
if (stbi__pnm_test(s)) return stbi__pnm_load(s,x,y,comp,req_comp, ri);
#endif
#ifndef STBI_NO_HDR
if (stbi__hdr_test(s)) {
float *hdr = stbi__hdr_load(s, x,y,comp,req_comp, ri);
return stbi__hdr_to_ldr(hdr, *x, *y, req_comp ? req_comp : *comp);
}
#endif
#ifndef STBI_NO_TGA
// test tga last because it's a crappy test!
if (stbi__tga_test(s))
return stbi__tga_load(s,x,y,comp,req_comp, ri);
#endif
return stbi__errpuc("unknown image type", "Image not of any known type, or corrupt");
}
static stbi_uc *stbi__convert_16_to_8(stbi__uint16 *orig, int w, int h, int channels)
{
int i;
int img_len = w * h * channels;
stbi_uc *reduced;
reduced = (stbi_uc *) stbi__malloc(img_len);
if (reduced == NULL) return stbi__errpuc("outofmem", "Out of memory");
for (i = 0; i < img_len; ++i)
reduced[i] = (stbi_uc)((orig[i] >> 8) & 0xFF); // top half of each byte is sufficient approx of 16->8 bit scaling
STBI_FREE(orig);
return reduced;
}
static stbi__uint16 *stbi__convert_8_to_16(stbi_uc *orig, int w, int h, int channels)
{
int i;
int img_len = w * h * channels;
stbi__uint16 *enlarged;
enlarged = (stbi__uint16 *) stbi__malloc(img_len*2);
if (enlarged == NULL) return (stbi__uint16 *) stbi__errpuc("outofmem", "Out of memory");
for (i = 0; i < img_len; ++i)
enlarged[i] = (stbi__uint16)((orig[i] << 8) + orig[i]); // replicate to high and low byte, maps 0->0, 255->0xffff
STBI_FREE(orig);
return enlarged;
}
static void stbi__vertical_flip(void *image, int w, int h, int bytes_per_pixel)
{
int row;
size_t bytes_per_row = (size_t)w * bytes_per_pixel;
stbi_uc temp[2048];
stbi_uc *bytes = (stbi_uc *)image;
for (row = 0; row < (h>>1); row++) {
stbi_uc *row0 = bytes + row*bytes_per_row;
stbi_uc *row1 = bytes + (h - row - 1)*bytes_per_row;
// swap row0 with row1
size_t bytes_left = bytes_per_row;
while (bytes_left) {
size_t bytes_copy = (bytes_left < sizeof(temp)) ? bytes_left : sizeof(temp);
memcpy(temp, row0, bytes_copy);
memcpy(row0, row1, bytes_copy);
memcpy(row1, temp, bytes_copy);
row0 += bytes_copy;
row1 += bytes_copy;
bytes_left -= bytes_copy;
}
}
}
#ifndef STBI_NO_GIF
static void stbi__vertical_flip_slices(void *image, int w, int h, int z, int bytes_per_pixel)
{
int slice;
int slice_size = w * h * bytes_per_pixel;
stbi_uc *bytes = (stbi_uc *)image;
for (slice = 0; slice < z; ++slice) {
stbi__vertical_flip(bytes, w, h, bytes_per_pixel);
bytes += slice_size;
}
}
#endif
static unsigned char *stbi__load_and_postprocess_8bit(stbi__context *s, int *x, int *y, int *comp, int req_comp)
{
stbi__result_info ri;
void *result = stbi__load_main(s, x, y, comp, req_comp, &ri, 8);
if (result == NULL)
return NULL;
// it is the responsibility of the loaders to make sure we get either 8 or 16 bit.
STBI_ASSERT(ri.bits_per_channel == 8 || ri.bits_per_channel == 16);
if (ri.bits_per_channel != 8) {
result = stbi__convert_16_to_8((stbi__uint16 *) result, *x, *y, req_comp == 0 ? *comp : req_comp);
ri.bits_per_channel = 8;
}
// @TODO: move stbi__convert_format to here
if (stbi__vertically_flip_on_load) {
int channels = req_comp ? req_comp : *comp;
stbi__vertical_flip(result, *x, *y, channels * sizeof(stbi_uc));
}
return (unsigned char *) result;
}
static stbi__uint16 *stbi__load_and_postprocess_16bit(stbi__context *s, int *x, int *y, int *comp, int req_comp)
{
stbi__result_info ri;
void *result = stbi__load_main(s, x, y, comp, req_comp, &ri, 16);
if (result == NULL)
return NULL;
// it is the responsibility of the loaders to make sure we get either 8 or 16 bit.
STBI_ASSERT(ri.bits_per_channel == 8 || ri.bits_per_channel == 16);
if (ri.bits_per_channel != 16) {
result = stbi__convert_8_to_16((stbi_uc *) result, *x, *y, req_comp == 0 ? *comp : req_comp);
ri.bits_per_channel = 16;
}
// @TODO: move stbi__convert_format16 to here
// @TODO: special case RGB-to-Y (and RGBA-to-YA) for 8-bit-to-16-bit case to keep more precision
if (stbi__vertically_flip_on_load) {
int channels = req_comp ? req_comp : *comp;
stbi__vertical_flip(result, *x, *y, channels * sizeof(stbi__uint16));
}
return (stbi__uint16 *) result;
}
#if !defined(STBI_NO_HDR) && !defined(STBI_NO_LINEAR)
static void stbi__float_postprocess(float *result, int *x, int *y, int *comp, int req_comp)
{
if (stbi__vertically_flip_on_load && result != NULL) {
int channels = req_comp ? req_comp : *comp;
stbi__vertical_flip(result, *x, *y, channels * sizeof(float));
}
}
#endif
#ifndef STBI_NO_STDIO
#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)
STBI_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);
STBI_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);
#endif
#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)
STBIDEF int stbi_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)
{
return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);
}
#endif
static FILE *stbi__fopen(char const *filename, char const *mode)
{
FILE *f;
#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)
wchar_t wMode[64];
wchar_t wFilename[1024];
if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))
return 0;
if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))
return 0;
#if _MSC_VER >= 1400
if (0 != _wfopen_s(&f, wFilename, wMode))
f = 0;
#else
f = _wfopen(wFilename, wMode);
#endif
#elif defined(_MSC_VER) && _MSC_VER >= 1400
if (0 != fopen_s(&f, filename, mode))
f=0;
#else
f = fopen(filename, mode);
#endif
return f;
}
STBIDEF stbi_uc *stbi_load(char const *filename, int *x, int *y, int *comp, int req_comp)
{
FILE *f = stbi__fopen(filename, "rb");
unsigned char *result;
if (!f) return stbi__errpuc("can't fopen", "Unable to open file");
result = stbi_load_from_file(f,x,y,comp,req_comp);
fclose(f);
return result;
}
STBIDEF stbi_uc *stbi_load_from_file(FILE *f, int *x, int *y, int *comp, int req_comp)
{
unsigned char *result;
stbi__context s;
stbi__start_file(&s,f);
result = stbi__load_and_postprocess_8bit(&s,x,y,comp,req_comp);
if (result) {
// need to 'unget' all the characters in the IO buffer
fseek(f, - (int) (s.img_buffer_end - s.img_buffer), SEEK_CUR);
}
return result;
}
STBIDEF stbi__uint16 *stbi_load_from_file_16(FILE *f, int *x, int *y, int *comp, int req_comp)
{
stbi__uint16 *result;
stbi__context s;
stbi__start_file(&s,f);
result = stbi__load_and_postprocess_16bit(&s,x,y,comp,req_comp);
if (result) {
// need to 'unget' all the characters in the IO buffer
fseek(f, - (int) (s.img_buffer_end - s.img_buffer), SEEK_CUR);
}
return result;
}
STBIDEF stbi_us *stbi_load_16(char const *filename, int *x, int *y, int *comp, int req_comp)
{
FILE *f = stbi__fopen(filename, "rb");
stbi__uint16 *result;
if (!f) return (stbi_us *) stbi__errpuc("can't fopen", "Unable to open file");
result = stbi_load_from_file_16(f,x,y,comp,req_comp);
fclose(f);
return result;
}
#endif //!STBI_NO_STDIO
STBIDEF stbi_us *stbi_load_16_from_memory(stbi_uc const *buffer, int len, int *x, int *y, int *channels_in_file, int desired_channels)
{
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__load_and_postprocess_16bit(&s,x,y,channels_in_file,desired_channels);
}
STBIDEF stbi_us *stbi_load_16_from_callbacks(stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *channels_in_file, int desired_channels)
{
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *)clbk, user);
return stbi__load_and_postprocess_16bit(&s,x,y,channels_in_file,desired_channels);
}
STBIDEF stbi_uc *stbi_load_from_memory(stbi_uc const *buffer, int len, int *x, int *y, int *comp, int req_comp)
{
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__load_and_postprocess_8bit(&s,x,y,comp,req_comp);
}
STBIDEF stbi_uc *stbi_load_from_callbacks(stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *comp, int req_comp)
{
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *) clbk, user);
return stbi__load_and_postprocess_8bit(&s,x,y,comp,req_comp);
}
#ifndef STBI_NO_GIF
STBIDEF stbi_uc *stbi_load_gif_from_memory(stbi_uc const *buffer, int len, int **delays, int *x, int *y, int *z, int *comp, int req_comp)
{
unsigned char *result;
stbi__context s;
stbi__start_mem(&s,buffer,len);
result = (unsigned char*) stbi__load_gif_main(&s, delays, x, y, z, comp, req_comp);
if (stbi__vertically_flip_on_load) {
stbi__vertical_flip_slices( result, *x, *y, *z, *comp );
}
return result;
}
#endif
#ifndef STBI_NO_LINEAR
static float *stbi__loadf_main(stbi__context *s, int *x, int *y, int *comp, int req_comp)
{
unsigned char *data;
#ifndef STBI_NO_HDR
if (stbi__hdr_test(s)) {
stbi__result_info ri;
float *hdr_data = stbi__hdr_load(s,x,y,comp,req_comp, &ri);
if (hdr_data)
stbi__float_postprocess(hdr_data,x,y,comp,req_comp);
return hdr_data;
}
#endif
data = stbi__load_and_postprocess_8bit(s, x, y, comp, req_comp);
if (data)
return stbi__ldr_to_hdr(data, *x, *y, req_comp ? req_comp : *comp);
return stbi__errpf("unknown image type", "Image not of any known type, or corrupt");
}
STBIDEF float *stbi_loadf_from_memory(stbi_uc const *buffer, int len, int *x, int *y, int *comp, int req_comp)
{
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__loadf_main(&s,x,y,comp,req_comp);
}
STBIDEF float *stbi_loadf_from_callbacks(stbi_io_callbacks const *clbk, void *user, int *x, int *y, int *comp, int req_comp)
{
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *) clbk, user);
return stbi__loadf_main(&s,x,y,comp,req_comp);
}
#ifndef STBI_NO_STDIO
STBIDEF float *stbi_loadf(char const *filename, int *x, int *y, int *comp, int req_comp)
{
float *result;
FILE *f = stbi__fopen(filename, "rb");
if (!f) return stbi__errpf("can't fopen", "Unable to open file");
result = stbi_loadf_from_file(f,x,y,comp,req_comp);
fclose(f);
return result;
}
STBIDEF float *stbi_loadf_from_file(FILE *f, int *x, int *y, int *comp, int req_comp)
{
stbi__context s;
stbi__start_file(&s,f);
return stbi__loadf_main(&s,x,y,comp,req_comp);
}
#endif // !STBI_NO_STDIO
#endif // !STBI_NO_LINEAR
// these is-hdr-or-not is defined independent of whether STBI_NO_LINEAR is
// defined, for API simplicity; if STBI_NO_LINEAR is defined, it always
// reports false!
STBIDEF int stbi_is_hdr_from_memory(stbi_uc const *buffer, int len)
{
#ifndef STBI_NO_HDR
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__hdr_test(&s);
#else
STBI_NOTUSED(buffer);
STBI_NOTUSED(len);
return 0;
#endif
}
#ifndef STBI_NO_STDIO
STBIDEF int stbi_is_hdr (char const *filename)
{
FILE *f = stbi__fopen(filename, "rb");
int result=0;
if (f) {
result = stbi_is_hdr_from_file(f);
fclose(f);
}
return result;
}
STBIDEF int stbi_is_hdr_from_file(FILE *f)
{
#ifndef STBI_NO_HDR
long pos = ftell(f);
int res;
stbi__context s;
stbi__start_file(&s,f);
res = stbi__hdr_test(&s);
fseek(f, pos, SEEK_SET);
return res;
#else
STBI_NOTUSED(f);
return 0;
#endif
}
#endif // !STBI_NO_STDIO
STBIDEF int stbi_is_hdr_from_callbacks(stbi_io_callbacks const *clbk, void *user)
{
#ifndef STBI_NO_HDR
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *) clbk, user);
return stbi__hdr_test(&s);
#else
STBI_NOTUSED(clbk);
STBI_NOTUSED(user);
return 0;
#endif
}
#ifndef STBI_NO_LINEAR
static float stbi__l2h_gamma=2.2f, stbi__l2h_scale=1.0f;
STBIDEF void stbi_ldr_to_hdr_gamma(float gamma) { stbi__l2h_gamma = gamma; }
STBIDEF void stbi_ldr_to_hdr_scale(float scale) { stbi__l2h_scale = scale; }
#endif
static float stbi__h2l_gamma_i=1.0f/2.2f, stbi__h2l_scale_i=1.0f;
STBIDEF void stbi_hdr_to_ldr_gamma(float gamma) { stbi__h2l_gamma_i = 1/gamma; }
STBIDEF void stbi_hdr_to_ldr_scale(float scale) { stbi__h2l_scale_i = 1/scale; }
//////////////////////////////////////////////////////////////////////////////
//
// Common code used by all image loaders
//
enum
{
STBI__SCAN_load=0,
STBI__SCAN_type,
STBI__SCAN_header
};
static void stbi__refill_buffer(stbi__context *s)
{
int n = (s->io.read)(s->io_user_data,(char*)s->buffer_start,s->buflen);
s->callback_already_read += (int) (s->img_buffer - s->img_buffer_original);
if (n == 0) {
// at end of file, treat same as if from memory, but need to handle case
// where s->img_buffer isn't pointing to safe memory, e.g. 0-byte file
s->read_from_callbacks = 0;
s->img_buffer = s->buffer_start;
s->img_buffer_end = s->buffer_start+1;
*s->img_buffer = 0;
} else {
s->img_buffer = s->buffer_start;
s->img_buffer_end = s->buffer_start + n;
}
}
stbi_inline static stbi_uc stbi__get8(stbi__context *s)
{
if (s->img_buffer < s->img_buffer_end)
return *s->img_buffer++;
if (s->read_from_callbacks) {
stbi__refill_buffer(s);
return *s->img_buffer++;
}
return 0;
}
#if defined(STBI_NO_JPEG) && defined(STBI_NO_HDR) && defined(STBI_NO_PIC) && defined(STBI_NO_PNM)
// nothing
#else
stbi_inline static int stbi__at_eof(stbi__context *s)
{
if (s->io.read) {
if (!(s->io.eof)(s->io_user_data)) return 0;
// if feof() is true, check if buffer = end
// special case: we've only got the special 0 character at the end
if (s->read_from_callbacks == 0) return 1;
}
return s->img_buffer >= s->img_buffer_end;
}
#endif
#if defined(STBI_NO_JPEG) && defined(STBI_NO_PNG) && defined(STBI_NO_BMP) && defined(STBI_NO_PSD) && defined(STBI_NO_TGA) && defined(STBI_NO_GIF) && defined(STBI_NO_PIC)
// nothing
#else
static void stbi__skip(stbi__context *s, int n)
{
if (n == 0) return; // already there!
if (n < 0) {
s->img_buffer = s->img_buffer_end;
return;
}
if (s->io.read) {
int blen = (int) (s->img_buffer_end - s->img_buffer);
if (blen < n) {
s->img_buffer = s->img_buffer_end;
(s->io.skip)(s->io_user_data, n - blen);
return;
}
}
s->img_buffer += n;
}
#endif
#if defined(STBI_NO_PNG) && defined(STBI_NO_TGA) && defined(STBI_NO_HDR) && defined(STBI_NO_PNM)
// nothing
#else
static int stbi__getn(stbi__context *s, stbi_uc *buffer, int n)
{
if (s->io.read) {
int blen = (int) (s->img_buffer_end - s->img_buffer);
if (blen < n) {
int res, count;
memcpy(buffer, s->img_buffer, blen);
count = (s->io.read)(s->io_user_data, (char*) buffer + blen, n - blen);
res = (count == (n-blen));
s->img_buffer = s->img_buffer_end;
return res;
}
}
if (s->img_buffer+n <= s->img_buffer_end) {
memcpy(buffer, s->img_buffer, n);
s->img_buffer += n;
return 1;
} else
return 0;
}
#endif
#if defined(STBI_NO_JPEG) && defined(STBI_NO_PNG) && defined(STBI_NO_PSD) && defined(STBI_NO_PIC)
// nothing
#else
static int stbi__get16be(stbi__context *s)
{
int z = stbi__get8(s);
return (z << 8) + stbi__get8(s);
}
#endif
#if defined(STBI_NO_PNG) && defined(STBI_NO_PSD) && defined(STBI_NO_PIC)
// nothing
#else
static stbi__uint32 stbi__get32be(stbi__context *s)
{
stbi__uint32 z = stbi__get16be(s);
return (z << 16) + stbi__get16be(s);
}
#endif
#if defined(STBI_NO_BMP) && defined(STBI_NO_TGA) && defined(STBI_NO_GIF)
// nothing
#else
static int stbi__get16le(stbi__context *s)
{
int z = stbi__get8(s);
return z + (stbi__get8(s) << 8);
}
#endif
#ifndef STBI_NO_BMP
static stbi__uint32 stbi__get32le(stbi__context *s)
{
stbi__uint32 z = stbi__get16le(s);
return z + (stbi__get16le(s) << 16);
}
#endif
#define STBI__BYTECAST(x) ((stbi_uc) ((x) & 255)) // truncate int to byte without warnings
#if defined(STBI_NO_JPEG) && defined(STBI_NO_PNG) && defined(STBI_NO_BMP) && defined(STBI_NO_PSD) && defined(STBI_NO_TGA) && defined(STBI_NO_GIF) && defined(STBI_NO_PIC) && defined(STBI_NO_PNM)
// nothing
#else
//////////////////////////////////////////////////////////////////////////////
//
// generic converter from built-in img_n to req_comp
// individual types do this automatically as much as possible (e.g. jpeg
// does all cases internally since it needs to colorspace convert anyway,
// and it never has alpha, so very few cases ). png can automatically
// interleave an alpha=255 channel, but falls back to this for other cases
//
// assume data buffer is malloced, so malloc a new one and free that one
// only failure mode is malloc failing
static stbi_uc stbi__compute_y(int r, int g, int b)
{
return (stbi_uc) (((r*77) + (g*150) + (29*b)) >> 8);
}
#endif
#if defined(STBI_NO_PNG) && defined(STBI_NO_BMP) && defined(STBI_NO_PSD) && defined(STBI_NO_TGA) && defined(STBI_NO_GIF) && defined(STBI_NO_PIC) && defined(STBI_NO_PNM)
// nothing
#else
static unsigned char *stbi__convert_format(unsigned char *data, int img_n, int req_comp, unsigned int x, unsigned int y)
{
int i,j;
unsigned char *good;
if (req_comp == img_n) return data;
STBI_ASSERT(req_comp >= 1 && req_comp <= 4);
good = (unsigned char *) stbi__malloc_mad3(req_comp, x, y, 0);
if (good == NULL) {
STBI_FREE(data);
return stbi__errpuc("outofmem", "Out of memory");
}
for (j=0; j < (int) y; ++j) {
unsigned char *src = data + j * x * img_n ;
unsigned char *dest = good + j * x * req_comp;
#define STBI__COMBO(a,b) ((a)*8+(b))
#define STBI__CASE(a,b) case STBI__COMBO(a,b): for(i=x-1; i >= 0; --i, src += a, dest += b)
// convert source image with img_n components to one with req_comp components;
// avoid switch per pixel, so use switch per scanline and massive macros
switch (STBI__COMBO(img_n, req_comp)) {
STBI__CASE(1,2) { dest[0]=src[0]; dest[1]=255; } break;
STBI__CASE(1,3) { dest[0]=dest[1]=dest[2]=src[0]; } break;
STBI__CASE(1,4) { dest[0]=dest[1]=dest[2]=src[0]; dest[3]=255; } break;
STBI__CASE(2,1) { dest[0]=src[0]; } break;
STBI__CASE(2,3) { dest[0]=dest[1]=dest[2]=src[0]; } break;
STBI__CASE(2,4) { dest[0]=dest[1]=dest[2]=src[0]; dest[3]=src[1]; } break;
STBI__CASE(3,4) { dest[0]=src[0];dest[1]=src[1];dest[2]=src[2];dest[3]=255; } break;
STBI__CASE(3,1) { dest[0]=stbi__compute_y(src[0],src[1],src[2]); } break;
STBI__CASE(3,2) { dest[0]=stbi__compute_y(src[0],src[1],src[2]); dest[1] = 255; } break;
STBI__CASE(4,1) { dest[0]=stbi__compute_y(src[0],src[1],src[2]); } break;
STBI__CASE(4,2) { dest[0]=stbi__compute_y(src[0],src[1],src[2]); dest[1] = src[3]; } break;
STBI__CASE(4,3) { dest[0]=src[0];dest[1]=src[1];dest[2]=src[2]; } break;
default: STBI_ASSERT(0); STBI_FREE(data); STBI_FREE(good); return stbi__errpuc("unsupported", "Unsupported format conversion");
}
#undef STBI__CASE
}
STBI_FREE(data);
return good;
}
#endif
#if defined(STBI_NO_PNG) && defined(STBI_NO_PSD)
// nothing
#else
static stbi__uint16 stbi__compute_y_16(int r, int g, int b)
{
return (stbi__uint16) (((r*77) + (g*150) + (29*b)) >> 8);
}
#endif
#if defined(STBI_NO_PNG) && defined(STBI_NO_PSD)
// nothing
#else
static stbi__uint16 *stbi__convert_format16(stbi__uint16 *data, int img_n, int req_comp, unsigned int x, unsigned int y)
{
int i,j;
stbi__uint16 *good;
if (req_comp == img_n) return data;
STBI_ASSERT(req_comp >= 1 && req_comp <= 4);
good = (stbi__uint16 *) stbi__malloc(req_comp * x * y * 2);
if (good == NULL) {
STBI_FREE(data);
return (stbi__uint16 *) stbi__errpuc("outofmem", "Out of memory");
}
for (j=0; j < (int) y; ++j) {
stbi__uint16 *src = data + j * x * img_n ;
stbi__uint16 *dest = good + j * x * req_comp;
#define STBI__COMBO(a,b) ((a)*8+(b))
#define STBI__CASE(a,b) case STBI__COMBO(a,b): for(i=x-1; i >= 0; --i, src += a, dest += b)
// convert source image with img_n components to one with req_comp components;
// avoid switch per pixel, so use switch per scanline and massive macros
switch (STBI__COMBO(img_n, req_comp)) {
STBI__CASE(1,2) { dest[0]=src[0]; dest[1]=0xffff; } break;
STBI__CASE(1,3) { dest[0]=dest[1]=dest[2]=src[0]; } break;
STBI__CASE(1,4) { dest[0]=dest[1]=dest[2]=src[0]; dest[3]=0xffff; } break;
STBI__CASE(2,1) { dest[0]=src[0]; } break;
STBI__CASE(2,3) { dest[0]=dest[1]=dest[2]=src[0]; } break;
STBI__CASE(2,4) { dest[0]=dest[1]=dest[2]=src[0]; dest[3]=src[1]; } break;
STBI__CASE(3,4) { dest[0]=src[0];dest[1]=src[1];dest[2]=src[2];dest[3]=0xffff; } break;
STBI__CASE(3,1) { dest[0]=stbi__compute_y_16(src[0],src[1],src[2]); } break;
STBI__CASE(3,2) { dest[0]=stbi__compute_y_16(src[0],src[1],src[2]); dest[1] = 0xffff; } break;
STBI__CASE(4,1) { dest[0]=stbi__compute_y_16(src[0],src[1],src[2]); } break;
STBI__CASE(4,2) { dest[0]=stbi__compute_y_16(src[0],src[1],src[2]); dest[1] = src[3]; } break;
STBI__CASE(4,3) { dest[0]=src[0];dest[1]=src[1];dest[2]=src[2]; } break;
default: STBI_ASSERT(0); STBI_FREE(data); STBI_FREE(good); return (stbi__uint16*) stbi__errpuc("unsupported", "Unsupported format conversion");
}
#undef STBI__CASE
}
STBI_FREE(data);
return good;
}
#endif
#ifndef STBI_NO_LINEAR
static float *stbi__ldr_to_hdr(stbi_uc *data, int x, int y, int comp)
{
int i,k,n;
float *output;
if (!data) return NULL;
output = (float *) stbi__malloc_mad4(x, y, comp, sizeof(float), 0);
if (output == NULL) { STBI_FREE(data); return stbi__errpf("outofmem", "Out of memory"); }
// compute number of non-alpha components
if (comp & 1) n = comp; else n = comp-1;
for (i=0; i < x*y; ++i) {
for (k=0; k < n; ++k) {
output[i*comp + k] = (float) (pow(data[i*comp+k]/255.0f, stbi__l2h_gamma) * stbi__l2h_scale);
}
}
if (n < comp) {
for (i=0; i < x*y; ++i) {
output[i*comp + n] = data[i*comp + n]/255.0f;
}
}
STBI_FREE(data);
return output;
}
#endif
#ifndef STBI_NO_HDR
#define stbi__float2int(x) ((int) (x))
static stbi_uc *stbi__hdr_to_ldr(float *data, int x, int y, int comp)
{
int i,k,n;
stbi_uc *output;
if (!data) return NULL;
output = (stbi_uc *) stbi__malloc_mad3(x, y, comp, 0);
if (output == NULL) { STBI_FREE(data); return stbi__errpuc("outofmem", "Out of memory"); }
// compute number of non-alpha components
if (comp & 1) n = comp; else n = comp-1;
for (i=0; i < x*y; ++i) {
for (k=0; k < n; ++k) {
float z = (float) pow(data[i*comp+k]*stbi__h2l_scale_i, stbi__h2l_gamma_i) * 255 + 0.5f;
if (z < 0) z = 0;
if (z > 255) z = 255;
output[i*comp + k] = (stbi_uc) stbi__float2int(z);
}
if (k < comp) {
float z = data[i*comp+k] * 255 + 0.5f;
if (z < 0) z = 0;
if (z > 255) z = 255;
output[i*comp + k] = (stbi_uc) stbi__float2int(z);
}
}
STBI_FREE(data);
return output;
}
#endif
//////////////////////////////////////////////////////////////////////////////
//
// "baseline" JPEG/JFIF decoder
//
// simple implementation
// - doesn't support delayed output of y-dimension
// - simple interface (only one output format: 8-bit interleaved RGB)
// - doesn't try to recover corrupt jpegs
// - doesn't allow partial loading, loading multiple at once
// - still fast on x86 (copying globals into locals doesn't help x86)
// - allocates lots of intermediate memory (full size of all components)
// - non-interleaved case requires this anyway
// - allows good upsampling (see next)
// high-quality
// - upsampled channels are bilinearly interpolated, even across blocks
// - quality integer IDCT derived from IJG's 'slow'
// performance
// - fast huffman; reasonable integer IDCT
// - some SIMD kernels for common paths on targets with SSE2/NEON
// - uses a lot of intermediate memory, could cache poorly
#ifndef STBI_NO_JPEG
// huffman decoding acceleration
#define FAST_BITS 9 // larger handles more cases; smaller stomps less cache
typedef struct
{
stbi_uc fast[1 << FAST_BITS];
// weirdly, repacking this into AoS is a 10% speed loss, instead of a win
stbi__uint16 code[256];
stbi_uc values[256];
stbi_uc size[257];
unsigned int maxcode[18];
int delta[17]; // old 'firstsymbol' - old 'firstcode'
} stbi__huffman;
typedef struct
{
stbi__context *s;
stbi__huffman huff_dc[4];
stbi__huffman huff_ac[4];
stbi__uint16 dequant[4][64];
stbi__int16 fast_ac[4][1 << FAST_BITS];
// sizes for components, interleaved MCUs
int img_h_max, img_v_max;
int img_mcu_x, img_mcu_y;
int img_mcu_w, img_mcu_h;
// definition of jpeg image component
struct
{
int id;
int h,v;
int tq;
int hd,ha;
int dc_pred;
int x,y,w2,h2;
stbi_uc *data;
void *raw_data, *raw_coeff;
stbi_uc *linebuf;
short *coeff; // progressive only
int coeff_w, coeff_h; // number of 8x8 coefficient blocks
} img_comp[4];
stbi__uint32 code_buffer; // jpeg entropy-coded buffer
int code_bits; // number of valid bits
unsigned char marker; // marker seen while filling entropy buffer
int nomore; // flag if we saw a marker so must stop
int progressive;
int spec_start;
int spec_end;
int succ_high;
int succ_low;
int eob_run;
int jfif;
int app14_color_transform; // Adobe APP14 tag
int rgb;
int scan_n, order[4];
int restart_interval, todo;
// kernels
void (*idct_block_kernel)(stbi_uc *out, int out_stride, short data[64]);
void (*YCbCr_to_RGB_kernel)(stbi_uc *out, const stbi_uc *y, const stbi_uc *pcb, const stbi_uc *pcr, int count, int step);
stbi_uc *(*resample_row_hv_2_kernel)(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs);
} stbi__jpeg;
static int stbi__build_huffman(stbi__huffman *h, int *count)
{
int i,j,k=0;
unsigned int code;
// build size list for each symbol (from JPEG spec)
for (i=0; i < 16; ++i)
for (j=0; j < count[i]; ++j)
h->size[k++] = (stbi_uc) (i+1);
h->size[k] = 0;
// compute actual symbols (from jpeg spec)
code = 0;
k = 0;
for(j=1; j <= 16; ++j) {
// compute delta to add to code to compute symbol id
h->delta[j] = k - code;
if (h->size[k] == j) {
while (h->size[k] == j)
h->code[k++] = (stbi__uint16) (code++);
if (code-1 >= (1u << j)) return stbi__err("bad code lengths","Corrupt JPEG");
}
// compute largest code + 1 for this size, preshifted as needed later
h->maxcode[j] = code << (16-j);
code <<= 1;
}
h->maxcode[j] = 0xffffffff;
// build non-spec acceleration table; 255 is flag for not-accelerated
memset(h->fast, 255, 1 << FAST_BITS);
for (i=0; i < k; ++i) {
int s = h->size[i];
if (s <= FAST_BITS) {
int c = h->code[i] << (FAST_BITS-s);
int m = 1 << (FAST_BITS-s);
for (j=0; j < m; ++j) {
h->fast[c+j] = (stbi_uc) i;
}
}
}
return 1;
}
// build a table that decodes both magnitude and value of small ACs in
// one go.
static void stbi__build_fast_ac(stbi__int16 *fast_ac, stbi__huffman *h)
{
int i;
for (i=0; i < (1 << FAST_BITS); ++i) {
stbi_uc fast = h->fast[i];
fast_ac[i] = 0;
if (fast < 255) {
int rs = h->values[fast];
int run = (rs >> 4) & 15;
int magbits = rs & 15;
int len = h->size[fast];
if (magbits && len + magbits <= FAST_BITS) {
// magnitude code followed by receive_extend code
int k = ((i << len) & ((1 << FAST_BITS) - 1)) >> (FAST_BITS - magbits);
int m = 1 << (magbits - 1);
if (k < m) k += (~0U << magbits) + 1;
// if the result is small enough, we can fit it in fast_ac table
if (k >= -128 && k <= 127)
fast_ac[i] = (stbi__int16) ((k * 256) + (run * 16) + (len + magbits));
}
}
}
}
static void stbi__grow_buffer_unsafe(stbi__jpeg *j)
{
do {
unsigned int b = j->nomore ? 0 : stbi__get8(j->s);
if (b == 0xff) {
int c = stbi__get8(j->s);
while (c == 0xff) c = stbi__get8(j->s); // consume fill bytes
if (c != 0) {
j->marker = (unsigned char) c;
j->nomore = 1;
return;
}
}
j->code_buffer |= b << (24 - j->code_bits);
j->code_bits += 8;
} while (j->code_bits <= 24);
}
// (1 << n) - 1
static const stbi__uint32 stbi__bmask[17]={0,1,3,7,15,31,63,127,255,511,1023,2047,4095,8191,16383,32767,65535};
// decode a jpeg huffman value from the bitstream
stbi_inline static int stbi__jpeg_huff_decode(stbi__jpeg *j, stbi__huffman *h)
{
unsigned int temp;
int c,k;
if (j->code_bits < 16) stbi__grow_buffer_unsafe(j);
// look at the top FAST_BITS and determine what symbol ID it is,
// if the code is <= FAST_BITS
c = (j->code_buffer >> (32 - FAST_BITS)) & ((1 << FAST_BITS)-1);
k = h->fast[c];
if (k < 255) {
int s = h->size[k];
if (s > j->code_bits)
return -1;
j->code_buffer <<= s;
j->code_bits -= s;
return h->values[k];
}
// naive test is to shift the code_buffer down so k bits are
// valid, then test against maxcode. To speed this up, we've
// preshifted maxcode left so that it has (16-k) 0s at the
// end; in other words, regardless of the number of bits, it
// wants to be compared against something shifted to have 16;
// that way we don't need to shift inside the loop.
temp = j->code_buffer >> 16;
for (k=FAST_BITS+1 ; ; ++k)
if (temp < h->maxcode[k])
break;
if (k == 17) {
// error! code not found
j->code_bits -= 16;
return -1;
}
if (k > j->code_bits)
return -1;
// convert the huffman code to the symbol id
c = ((j->code_buffer >> (32 - k)) & stbi__bmask[k]) + h->delta[k];
STBI_ASSERT((((j->code_buffer) >> (32 - h->size[c])) & stbi__bmask[h->size[c]]) == h->code[c]);
// convert the id to a symbol
j->code_bits -= k;
j->code_buffer <<= k;
return h->values[c];
}
// bias[n] = (-1<<n) + 1
static const int stbi__jbias[16] = {0,-1,-3,-7,-15,-31,-63,-127,-255,-511,-1023,-2047,-4095,-8191,-16383,-32767};
// combined JPEG 'receive' and JPEG 'extend', since baseline
// always extends everything it receives.
stbi_inline static int stbi__extend_receive(stbi__jpeg *j, int n)
{
unsigned int k;
int sgn;
if (j->code_bits < n) stbi__grow_buffer_unsafe(j);
sgn = (stbi__int32)j->code_buffer >> 31; // sign bit is always in MSB
k = stbi_lrot(j->code_buffer, n);
if (n < 0 || n >= (int) (sizeof(stbi__bmask)/sizeof(*stbi__bmask))) return 0;
j->code_buffer = k & ~stbi__bmask[n];
k &= stbi__bmask[n];
j->code_bits -= n;
return k + (stbi__jbias[n] & ~sgn);
}
// get some unsigned bits
stbi_inline static int stbi__jpeg_get_bits(stbi__jpeg *j, int n)
{
unsigned int k;
if (j->code_bits < n) stbi__grow_buffer_unsafe(j);
k = stbi_lrot(j->code_buffer, n);
j->code_buffer = k & ~stbi__bmask[n];
k &= stbi__bmask[n];
j->code_bits -= n;
return k;
}
stbi_inline static int stbi__jpeg_get_bit(stbi__jpeg *j)
{
unsigned int k;
if (j->code_bits < 1) stbi__grow_buffer_unsafe(j);
k = j->code_buffer;
j->code_buffer <<= 1;
--j->code_bits;
return k & 0x80000000;
}
// given a value that's at position X in the zigzag stream,
// where does it appear in the 8x8 matrix coded as row-major?
static const stbi_uc stbi__jpeg_dezigzag[64+15] =
{
0, 1, 8, 16, 9, 2, 3, 10,
17, 24, 32, 25, 18, 11, 4, 5,
12, 19, 26, 33, 40, 48, 41, 34,
27, 20, 13, 6, 7, 14, 21, 28,
35, 42, 49, 56, 57, 50, 43, 36,
29, 22, 15, 23, 30, 37, 44, 51,
58, 59, 52, 45, 38, 31, 39, 46,
53, 60, 61, 54, 47, 55, 62, 63,
// let corrupt input sample past end
63, 63, 63, 63, 63, 63, 63, 63,
63, 63, 63, 63, 63, 63, 63
};
// decode one 64-entry block--
static int stbi__jpeg_decode_block(stbi__jpeg *j, short data[64], stbi__huffman *hdc, stbi__huffman *hac, stbi__int16 *fac, int b, stbi__uint16 *dequant)
{
int diff,dc,k;
int t;
if (j->code_bits < 16) stbi__grow_buffer_unsafe(j);
t = stbi__jpeg_huff_decode(j, hdc);
if (t < 0) return stbi__err("bad huffman code","Corrupt JPEG");
// 0 all the ac values now so we can do it 32-bits at a time
memset(data,0,64*sizeof(data[0]));
diff = t ? stbi__extend_receive(j, t) : 0;
dc = j->img_comp[b].dc_pred + diff;
j->img_comp[b].dc_pred = dc;
data[0] = (short) (dc * dequant[0]);
// decode AC components, see JPEG spec
k = 1;
do {
unsigned int zig;
int c,r,s;
if (j->code_bits < 16) stbi__grow_buffer_unsafe(j);
c = (j->code_buffer >> (32 - FAST_BITS)) & ((1 << FAST_BITS)-1);
r = fac[c];
if (r) { // fast-AC path
k += (r >> 4) & 15; // run
s = r & 15; // combined length
j->code_buffer <<= s;
j->code_bits -= s;
// decode into unzigzag'd location
zig = stbi__jpeg_dezigzag[k++];
data[zig] = (short) ((r >> 8) * dequant[zig]);
} else {
int rs = stbi__jpeg_huff_decode(j, hac);
if (rs < 0) return stbi__err("bad huffman code","Corrupt JPEG");
s = rs & 15;
r = rs >> 4;
if (s == 0) {
if (rs != 0xf0) break; // end block
k += 16;
} else {
k += r;
// decode into unzigzag'd location
zig = stbi__jpeg_dezigzag[k++];
data[zig] = (short) (stbi__extend_receive(j,s) * dequant[zig]);
}
}
} while (k < 64);
return 1;
}
static int stbi__jpeg_decode_block_prog_dc(stbi__jpeg *j, short data[64], stbi__huffman *hdc, int b)
{
int diff,dc;
int t;
if (j->spec_end != 0) return stbi__err("can't merge dc and ac", "Corrupt JPEG");
if (j->code_bits < 16) stbi__grow_buffer_unsafe(j);
if (j->succ_high == 0) {
// first scan for DC coefficient, must be first
memset(data,0,64*sizeof(data[0])); // 0 all the ac values now
t = stbi__jpeg_huff_decode(j, hdc);
if (t == -1) return stbi__err("can't merge dc and ac", "Corrupt JPEG");
diff = t ? stbi__extend_receive(j, t) : 0;
dc = j->img_comp[b].dc_pred + diff;
j->img_comp[b].dc_pred = dc;
data[0] = (short) (dc << j->succ_low);
} else {
// refinement scan for DC coefficient
if (stbi__jpeg_get_bit(j))
data[0] += (short) (1 << j->succ_low);
}
return 1;
}
// @OPTIMIZE: store non-zigzagged during the decode passes,
// and only de-zigzag when dequantizing
static int stbi__jpeg_decode_block_prog_ac(stbi__jpeg *j, short data[64], stbi__huffman *hac, stbi__int16 *fac)
{
int k;
if (j->spec_start == 0) return stbi__err("can't merge dc and ac", "Corrupt JPEG");
if (j->succ_high == 0) {
int shift = j->succ_low;
if (j->eob_run) {
--j->eob_run;
return 1;
}
k = j->spec_start;
do {
unsigned int zig;
int c,r,s;
if (j->code_bits < 16) stbi__grow_buffer_unsafe(j);
c = (j->code_buffer >> (32 - FAST_BITS)) & ((1 << FAST_BITS)-1);
r = fac[c];
if (r) { // fast-AC path
k += (r >> 4) & 15; // run
s = r & 15; // combined length
j->code_buffer <<= s;
j->code_bits -= s;
zig = stbi__jpeg_dezigzag[k++];
data[zig] = (short) ((r >> 8) << shift);
} else {
int rs = stbi__jpeg_huff_decode(j, hac);
if (rs < 0) return stbi__err("bad huffman code","Corrupt JPEG");
s = rs & 15;
r = rs >> 4;
if (s == 0) {
if (r < 15) {
j->eob_run = (1 << r);
if (r)
j->eob_run += stbi__jpeg_get_bits(j, r);
--j->eob_run;
break;
}
k += 16;
} else {
k += r;
zig = stbi__jpeg_dezigzag[k++];
data[zig] = (short) (stbi__extend_receive(j,s) << shift);
}
}
} while (k <= j->spec_end);
} else {
// refinement scan for these AC coefficients
short bit = (short) (1 << j->succ_low);
if (j->eob_run) {
--j->eob_run;
for (k = j->spec_start; k <= j->spec_end; ++k) {
short *p = &data[stbi__jpeg_dezigzag[k]];
if (*p != 0)
if (stbi__jpeg_get_bit(j))
if ((*p & bit)==0) {
if (*p > 0)
*p += bit;
else
*p -= bit;
}
}
} else {
k = j->spec_start;
do {
int r,s;
int rs = stbi__jpeg_huff_decode(j, hac); // @OPTIMIZE see if we can use the fast path here, advance-by-r is so slow, eh
if (rs < 0) return stbi__err("bad huffman code","Corrupt JPEG");
s = rs & 15;
r = rs >> 4;
if (s == 0) {
if (r < 15) {
j->eob_run = (1 << r) - 1;
if (r)
j->eob_run += stbi__jpeg_get_bits(j, r);
r = 64; // force end of block
} else {
// r=15 s=0 should write 16 0s, so we just do
// a run of 15 0s and then write s (which is 0),
// so we don't have to do anything special here
}
} else {
if (s != 1) return stbi__err("bad huffman code", "Corrupt JPEG");
// sign bit
if (stbi__jpeg_get_bit(j))
s = bit;
else
s = -bit;
}
// advance by r
while (k <= j->spec_end) {
short *p = &data[stbi__jpeg_dezigzag[k++]];
if (*p != 0) {
if (stbi__jpeg_get_bit(j))
if ((*p & bit)==0) {
if (*p > 0)
*p += bit;
else
*p -= bit;
}
} else {
if (r == 0) {
*p = (short) s;
break;
}
--r;
}
}
} while (k <= j->spec_end);
}
}
return 1;
}
// take a -128..127 value and stbi__clamp it and convert to 0..255
stbi_inline static stbi_uc stbi__clamp(int x)
{
// trick to use a single test to catch both cases
if ((unsigned int) x > 255) {
if (x < 0) return 0;
if (x > 255) return 255;
}
return (stbi_uc) x;
}
#define stbi__f2f(x) ((int) (((x) * 4096 + 0.5)))
#define stbi__fsh(x) ((x) * 4096)
// derived from jidctint -- DCT_ISLOW
#define STBI__IDCT_1D(s0,s1,s2,s3,s4,s5,s6,s7) \
int t0,t1,t2,t3,p1,p2,p3,p4,p5,x0,x1,x2,x3; \
p2 = s2; \
p3 = s6; \
p1 = (p2+p3) * stbi__f2f(0.5411961f); \
t2 = p1 + p3*stbi__f2f(-1.847759065f); \
t3 = p1 + p2*stbi__f2f( 0.765366865f); \
p2 = s0; \
p3 = s4; \
t0 = stbi__fsh(p2+p3); \
t1 = stbi__fsh(p2-p3); \
x0 = t0+t3; \
x3 = t0-t3; \
x1 = t1+t2; \
x2 = t1-t2; \
t0 = s7; \
t1 = s5; \
t2 = s3; \
t3 = s1; \
p3 = t0+t2; \
p4 = t1+t3; \
p1 = t0+t3; \
p2 = t1+t2; \
p5 = (p3+p4)*stbi__f2f( 1.175875602f); \
t0 = t0*stbi__f2f( 0.298631336f); \
t1 = t1*stbi__f2f( 2.053119869f); \
t2 = t2*stbi__f2f( 3.072711026f); \
t3 = t3*stbi__f2f( 1.501321110f); \
p1 = p5 + p1*stbi__f2f(-0.899976223f); \
p2 = p5 + p2*stbi__f2f(-2.562915447f); \
p3 = p3*stbi__f2f(-1.961570560f); \
p4 = p4*stbi__f2f(-0.390180644f); \
t3 += p1+p4; \
t2 += p2+p3; \
t1 += p2+p4; \
t0 += p1+p3;
static void stbi__idct_block(stbi_uc *out, int out_stride, short data[64])
{
int i,val[64],*v=val;
stbi_uc *o;
short *d = data;
// columns
for (i=0; i < 8; ++i,++d, ++v) {
// if all zeroes, shortcut -- this avoids dequantizing 0s and IDCTing
if (d[ 8]==0 && d[16]==0 && d[24]==0 && d[32]==0
&& d[40]==0 && d[48]==0 && d[56]==0) {
// no shortcut 0 seconds
// (1|2|3|4|5|6|7)==0 0 seconds
// all separate -0.047 seconds
// 1 && 2|3 && 4|5 && 6|7: -0.047 seconds
int dcterm = d[0]*4;
v[0] = v[8] = v[16] = v[24] = v[32] = v[40] = v[48] = v[56] = dcterm;
} else {
STBI__IDCT_1D(d[ 0],d[ 8],d[16],d[24],d[32],d[40],d[48],d[56])
// constants scaled things up by 1<<12; let's bring them back
// down, but keep 2 extra bits of precision
x0 += 512; x1 += 512; x2 += 512; x3 += 512;
v[ 0] = (x0+t3) >> 10;
v[56] = (x0-t3) >> 10;
v[ 8] = (x1+t2) >> 10;
v[48] = (x1-t2) >> 10;
v[16] = (x2+t1) >> 10;
v[40] = (x2-t1) >> 10;
v[24] = (x3+t0) >> 10;
v[32] = (x3-t0) >> 10;
}
}
for (i=0, v=val, o=out; i < 8; ++i,v+=8,o+=out_stride) {
// no fast case since the first 1D IDCT spread components out
STBI__IDCT_1D(v[0],v[1],v[2],v[3],v[4],v[5],v[6],v[7])
// constants scaled things up by 1<<12, plus we had 1<<2 from first
// loop, plus horizontal and vertical each scale by sqrt(8) so together
// we've got an extra 1<<3, so 1<<17 total we need to remove.
// so we want to round that, which means adding 0.5 * 1<<17,
// aka 65536. Also, we'll end up with -128 to 127 that we want
// to encode as 0..255 by adding 128, so we'll add that before the shift
x0 += 65536 + (128<<17);
x1 += 65536 + (128<<17);
x2 += 65536 + (128<<17);
x3 += 65536 + (128<<17);
// tried computing the shifts into temps, or'ing the temps to see
// if any were out of range, but that was slower
o[0] = stbi__clamp((x0+t3) >> 17);
o[7] = stbi__clamp((x0-t3) >> 17);
o[1] = stbi__clamp((x1+t2) >> 17);
o[6] = stbi__clamp((x1-t2) >> 17);
o[2] = stbi__clamp((x2+t1) >> 17);
o[5] = stbi__clamp((x2-t1) >> 17);
o[3] = stbi__clamp((x3+t0) >> 17);
o[4] = stbi__clamp((x3-t0) >> 17);
}
}
#ifdef STBI_SSE2
// sse2 integer IDCT. not the fastest possible implementation but it
// produces bit-identical results to the generic C version so it's
// fully "transparent".
static void stbi__idct_simd(stbi_uc *out, int out_stride, short data[64])
{
// This is constructed to match our regular (generic) integer IDCT exactly.
__m128i row0, row1, row2, row3, row4, row5, row6, row7;
__m128i tmp;
// dot product constant: even elems=x, odd elems=y
#define dct_const(x,y) _mm_setr_epi16((x),(y),(x),(y),(x),(y),(x),(y))
// out(0) = c0[even]*x + c0[odd]*y (c0, x, y 16-bit, out 32-bit)
// out(1) = c1[even]*x + c1[odd]*y
#define dct_rot(out0,out1, x,y,c0,c1) \
__m128i c0##lo = _mm_unpacklo_epi16((x),(y)); \
__m128i c0##hi = _mm_unpackhi_epi16((x),(y)); \
__m128i out0##_l = _mm_madd_epi16(c0##lo, c0); \
__m128i out0##_h = _mm_madd_epi16(c0##hi, c0); \
__m128i out1##_l = _mm_madd_epi16(c0##lo, c1); \
__m128i out1##_h = _mm_madd_epi16(c0##hi, c1)
// out = in << 12 (in 16-bit, out 32-bit)
#define dct_widen(out, in) \
__m128i out##_l = _mm_srai_epi32(_mm_unpacklo_epi16(_mm_setzero_si128(), (in)), 4); \
__m128i out##_h = _mm_srai_epi32(_mm_unpackhi_epi16(_mm_setzero_si128(), (in)), 4)
// wide add
#define dct_wadd(out, a, b) \
__m128i out##_l = _mm_add_epi32(a##_l, b##_l); \
__m128i out##_h = _mm_add_epi32(a##_h, b##_h)
// wide sub
#define dct_wsub(out, a, b) \
__m128i out##_l = _mm_sub_epi32(a##_l, b##_l); \
__m128i out##_h = _mm_sub_epi32(a##_h, b##_h)
// butterfly a/b, add bias, then shift by "s" and pack
#define dct_bfly32o(out0, out1, a,b,bias,s) \
{ \
__m128i abiased_l = _mm_add_epi32(a##_l, bias); \
__m128i abiased_h = _mm_add_epi32(a##_h, bias); \
dct_wadd(sum, abiased, b); \
dct_wsub(dif, abiased, b); \
out0 = _mm_packs_epi32(_mm_srai_epi32(sum_l, s), _mm_srai_epi32(sum_h, s)); \
out1 = _mm_packs_epi32(_mm_srai_epi32(dif_l, s), _mm_srai_epi32(dif_h, s)); \
}
// 8-bit interleave step (for transposes)
#define dct_interleave8(a, b) \
tmp = a; \
a = _mm_unpacklo_epi8(a, b); \
b = _mm_unpackhi_epi8(tmp, b)
// 16-bit interleave step (for transposes)
#define dct_interleave16(a, b) \
tmp = a; \
a = _mm_unpacklo_epi16(a, b); \
b = _mm_unpackhi_epi16(tmp, b)
#define dct_pass(bias,shift) \
{ \
/* even part */ \
dct_rot(t2e,t3e, row2,row6, rot0_0,rot0_1); \
__m128i sum04 = _mm_add_epi16(row0, row4); \
__m128i dif04 = _mm_sub_epi16(row0, row4); \
dct_widen(t0e, sum04); \
dct_widen(t1e, dif04); \
dct_wadd(x0, t0e, t3e); \
dct_wsub(x3, t0e, t3e); \
dct_wadd(x1, t1e, t2e); \
dct_wsub(x2, t1e, t2e); \
/* odd part */ \
dct_rot(y0o,y2o, row7,row3, rot2_0,rot2_1); \
dct_rot(y1o,y3o, row5,row1, rot3_0,rot3_1); \
__m128i sum17 = _mm_add_epi16(row1, row7); \
__m128i sum35 = _mm_add_epi16(row3, row5); \
dct_rot(y4o,y5o, sum17,sum35, rot1_0,rot1_1); \
dct_wadd(x4, y0o, y4o); \
dct_wadd(x5, y1o, y5o); \
dct_wadd(x6, y2o, y5o); \
dct_wadd(x7, y3o, y4o); \
dct_bfly32o(row0,row7, x0,x7,bias,shift); \
dct_bfly32o(row1,row6, x1,x6,bias,shift); \
dct_bfly32o(row2,row5, x2,x5,bias,shift); \
dct_bfly32o(row3,row4, x3,x4,bias,shift); \
}
__m128i rot0_0 = dct_const(stbi__f2f(0.5411961f), stbi__f2f(0.5411961f) + stbi__f2f(-1.847759065f));
__m128i rot0_1 = dct_const(stbi__f2f(0.5411961f) + stbi__f2f( 0.765366865f), stbi__f2f(0.5411961f));
__m128i rot1_0 = dct_const(stbi__f2f(1.175875602f) + stbi__f2f(-0.899976223f), stbi__f2f(1.175875602f));
__m128i rot1_1 = dct_const(stbi__f2f(1.175875602f), stbi__f2f(1.175875602f) + stbi__f2f(-2.562915447f));
__m128i rot2_0 = dct_const(stbi__f2f(-1.961570560f) + stbi__f2f( 0.298631336f), stbi__f2f(-1.961570560f));
__m128i rot2_1 = dct_const(stbi__f2f(-1.961570560f), stbi__f2f(-1.961570560f) + stbi__f2f( 3.072711026f));
__m128i rot3_0 = dct_const(stbi__f2f(-0.390180644f) + stbi__f2f( 2.053119869f), stbi__f2f(-0.390180644f));
__m128i rot3_1 = dct_const(stbi__f2f(-0.390180644f), stbi__f2f(-0.390180644f) + stbi__f2f( 1.501321110f));
// rounding biases in column/row passes, see stbi__idct_block for explanation.
__m128i bias_0 = _mm_set1_epi32(512);
__m128i bias_1 = _mm_set1_epi32(65536 + (128<<17));
// load
row0 = _mm_load_si128((const __m128i *) (data + 0*8));
row1 = _mm_load_si128((const __m128i *) (data + 1*8));
row2 = _mm_load_si128((const __m128i *) (data + 2*8));
row3 = _mm_load_si128((const __m128i *) (data + 3*8));
row4 = _mm_load_si128((const __m128i *) (data + 4*8));
row5 = _mm_load_si128((const __m128i *) (data + 5*8));
row6 = _mm_load_si128((const __m128i *) (data + 6*8));
row7 = _mm_load_si128((const __m128i *) (data + 7*8));
// column pass
dct_pass(bias_0, 10);
{
// 16bit 8x8 transpose pass 1
dct_interleave16(row0, row4);
dct_interleave16(row1, row5);
dct_interleave16(row2, row6);
dct_interleave16(row3, row7);
// transpose pass 2
dct_interleave16(row0, row2);
dct_interleave16(row1, row3);
dct_interleave16(row4, row6);
dct_interleave16(row5, row7);
// transpose pass 3
dct_interleave16(row0, row1);
dct_interleave16(row2, row3);
dct_interleave16(row4, row5);
dct_interleave16(row6, row7);
}
// row pass
dct_pass(bias_1, 17);
{
// pack
__m128i p0 = _mm_packus_epi16(row0, row1); // a0a1a2a3...a7b0b1b2b3...b7
__m128i p1 = _mm_packus_epi16(row2, row3);
__m128i p2 = _mm_packus_epi16(row4, row5);
__m128i p3 = _mm_packus_epi16(row6, row7);
// 8bit 8x8 transpose pass 1
dct_interleave8(p0, p2); // a0e0a1e1...
dct_interleave8(p1, p3); // c0g0c1g1...
// transpose pass 2
dct_interleave8(p0, p1); // a0c0e0g0...
dct_interleave8(p2, p3); // b0d0f0h0...
// transpose pass 3
dct_interleave8(p0, p2); // a0b0c0d0...
dct_interleave8(p1, p3); // a4b4c4d4...
// store
_mm_storel_epi64((__m128i *) out, p0); out += out_stride;
_mm_storel_epi64((__m128i *) out, _mm_shuffle_epi32(p0, 0x4e)); out += out_stride;
_mm_storel_epi64((__m128i *) out, p2); out += out_stride;
_mm_storel_epi64((__m128i *) out, _mm_shuffle_epi32(p2, 0x4e)); out += out_stride;
_mm_storel_epi64((__m128i *) out, p1); out += out_stride;
_mm_storel_epi64((__m128i *) out, _mm_shuffle_epi32(p1, 0x4e)); out += out_stride;
_mm_storel_epi64((__m128i *) out, p3); out += out_stride;
_mm_storel_epi64((__m128i *) out, _mm_shuffle_epi32(p3, 0x4e));
}
#undef dct_const
#undef dct_rot
#undef dct_widen
#undef dct_wadd
#undef dct_wsub
#undef dct_bfly32o
#undef dct_interleave8
#undef dct_interleave16
#undef dct_pass
}
#endif // STBI_SSE2
#ifdef STBI_NEON
// NEON integer IDCT. should produce bit-identical
// results to the generic C version.
static void stbi__idct_simd(stbi_uc *out, int out_stride, short data[64])
{
int16x8_t row0, row1, row2, row3, row4, row5, row6, row7;
int16x4_t rot0_0 = vdup_n_s16(stbi__f2f(0.5411961f));
int16x4_t rot0_1 = vdup_n_s16(stbi__f2f(-1.847759065f));
int16x4_t rot0_2 = vdup_n_s16(stbi__f2f( 0.765366865f));
int16x4_t rot1_0 = vdup_n_s16(stbi__f2f( 1.175875602f));
int16x4_t rot1_1 = vdup_n_s16(stbi__f2f(-0.899976223f));
int16x4_t rot1_2 = vdup_n_s16(stbi__f2f(-2.562915447f));
int16x4_t rot2_0 = vdup_n_s16(stbi__f2f(-1.961570560f));
int16x4_t rot2_1 = vdup_n_s16(stbi__f2f(-0.390180644f));
int16x4_t rot3_0 = vdup_n_s16(stbi__f2f( 0.298631336f));
int16x4_t rot3_1 = vdup_n_s16(stbi__f2f( 2.053119869f));
int16x4_t rot3_2 = vdup_n_s16(stbi__f2f( 3.072711026f));
int16x4_t rot3_3 = vdup_n_s16(stbi__f2f( 1.501321110f));
#define dct_long_mul(out, inq, coeff) \
int32x4_t out##_l = vmull_s16(vget_low_s16(inq), coeff); \
int32x4_t out##_h = vmull_s16(vget_high_s16(inq), coeff)
#define dct_long_mac(out, acc, inq, coeff) \
int32x4_t out##_l = vmlal_s16(acc##_l, vget_low_s16(inq), coeff); \
int32x4_t out##_h = vmlal_s16(acc##_h, vget_high_s16(inq), coeff)
#define dct_widen(out, inq) \
int32x4_t out##_l = vshll_n_s16(vget_low_s16(inq), 12); \
int32x4_t out##_h = vshll_n_s16(vget_high_s16(inq), 12)
// wide add
#define dct_wadd(out, a, b) \
int32x4_t out##_l = vaddq_s32(a##_l, b##_l); \
int32x4_t out##_h = vaddq_s32(a##_h, b##_h)
// wide sub
#define dct_wsub(out, a, b) \
int32x4_t out##_l = vsubq_s32(a##_l, b##_l); \
int32x4_t out##_h = vsubq_s32(a##_h, b##_h)
// butterfly a/b, then shift using "shiftop" by "s" and pack
#define dct_bfly32o(out0,out1, a,b,shiftop,s) \
{ \
dct_wadd(sum, a, b); \
dct_wsub(dif, a, b); \
out0 = vcombine_s16(shiftop(sum_l, s), shiftop(sum_h, s)); \
out1 = vcombine_s16(shiftop(dif_l, s), shiftop(dif_h, s)); \
}
#define dct_pass(shiftop, shift) \
{ \
/* even part */ \
int16x8_t sum26 = vaddq_s16(row2, row6); \
dct_long_mul(p1e, sum26, rot0_0); \
dct_long_mac(t2e, p1e, row6, rot0_1); \
dct_long_mac(t3e, p1e, row2, rot0_2); \
int16x8_t sum04 = vaddq_s16(row0, row4); \
int16x8_t dif04 = vsubq_s16(row0, row4); \
dct_widen(t0e, sum04); \
dct_widen(t1e, dif04); \
dct_wadd(x0, t0e, t3e); \
dct_wsub(x3, t0e, t3e); \
dct_wadd(x1, t1e, t2e); \
dct_wsub(x2, t1e, t2e); \
/* odd part */ \
int16x8_t sum15 = vaddq_s16(row1, row5); \
int16x8_t sum17 = vaddq_s16(row1, row7); \
int16x8_t sum35 = vaddq_s16(row3, row5); \
int16x8_t sum37 = vaddq_s16(row3, row7); \
int16x8_t sumodd = vaddq_s16(sum17, sum35); \
dct_long_mul(p5o, sumodd, rot1_0); \
dct_long_mac(p1o, p5o, sum17, rot1_1); \
dct_long_mac(p2o, p5o, sum35, rot1_2); \
dct_long_mul(p3o, sum37, rot2_0); \
dct_long_mul(p4o, sum15, rot2_1); \
dct_wadd(sump13o, p1o, p3o); \
dct_wadd(sump24o, p2o, p4o); \
dct_wadd(sump23o, p2o, p3o); \
dct_wadd(sump14o, p1o, p4o); \
dct_long_mac(x4, sump13o, row7, rot3_0); \
dct_long_mac(x5, sump24o, row5, rot3_1); \
dct_long_mac(x6, sump23o, row3, rot3_2); \
dct_long_mac(x7, sump14o, row1, rot3_3); \
dct_bfly32o(row0,row7, x0,x7,shiftop,shift); \
dct_bfly32o(row1,row6, x1,x6,shiftop,shift); \
dct_bfly32o(row2,row5, x2,x5,shiftop,shift); \
dct_bfly32o(row3,row4, x3,x4,shiftop,shift); \
}
// load
row0 = vld1q_s16(data + 0*8);
row1 = vld1q_s16(data + 1*8);
row2 = vld1q_s16(data + 2*8);
row3 = vld1q_s16(data + 3*8);
row4 = vld1q_s16(data + 4*8);
row5 = vld1q_s16(data + 5*8);
row6 = vld1q_s16(data + 6*8);
row7 = vld1q_s16(data + 7*8);
// add DC bias
row0 = vaddq_s16(row0, vsetq_lane_s16(1024, vdupq_n_s16(0), 0));
// column pass
dct_pass(vrshrn_n_s32, 10);
// 16bit 8x8 transpose
{
// these three map to a single VTRN.16, VTRN.32, and VSWP, respectively.
// whether compilers actually get this is another story, sadly.
#define dct_trn16(x, y) { int16x8x2_t t = vtrnq_s16(x, y); x = t.val[0]; y = t.val[1]; }
#define dct_trn32(x, y) { int32x4x2_t t = vtrnq_s32(vreinterpretq_s32_s16(x), vreinterpretq_s32_s16(y)); x = vreinterpretq_s16_s32(t.val[0]); y = vreinterpretq_s16_s32(t.val[1]); }
#define dct_trn64(x, y) { int16x8_t x0 = x; int16x8_t y0 = y; x = vcombine_s16(vget_low_s16(x0), vget_low_s16(y0)); y = vcombine_s16(vget_high_s16(x0), vget_high_s16(y0)); }
// pass 1
dct_trn16(row0, row1); // a0b0a2b2a4b4a6b6
dct_trn16(row2, row3);
dct_trn16(row4, row5);
dct_trn16(row6, row7);
// pass 2
dct_trn32(row0, row2); // a0b0c0d0a4b4c4d4
dct_trn32(row1, row3);
dct_trn32(row4, row6);
dct_trn32(row5, row7);
// pass 3
dct_trn64(row0, row4); // a0b0c0d0e0f0g0h0
dct_trn64(row1, row5);
dct_trn64(row2, row6);
dct_trn64(row3, row7);
#undef dct_trn16
#undef dct_trn32
#undef dct_trn64
}
// row pass
// vrshrn_n_s32 only supports shifts up to 16, we need
// 17. so do a non-rounding shift of 16 first then follow
// up with a rounding shift by 1.
dct_pass(vshrn_n_s32, 16);
{
// pack and round
uint8x8_t p0 = vqrshrun_n_s16(row0, 1);
uint8x8_t p1 = vqrshrun_n_s16(row1, 1);
uint8x8_t p2 = vqrshrun_n_s16(row2, 1);
uint8x8_t p3 = vqrshrun_n_s16(row3, 1);
uint8x8_t p4 = vqrshrun_n_s16(row4, 1);
uint8x8_t p5 = vqrshrun_n_s16(row5, 1);
uint8x8_t p6 = vqrshrun_n_s16(row6, 1);
uint8x8_t p7 = vqrshrun_n_s16(row7, 1);
// again, these can translate into one instruction, but often don't.
#define dct_trn8_8(x, y) { uint8x8x2_t t = vtrn_u8(x, y); x = t.val[0]; y = t.val[1]; }
#define dct_trn8_16(x, y) { uint16x4x2_t t = vtrn_u16(vreinterpret_u16_u8(x), vreinterpret_u16_u8(y)); x = vreinterpret_u8_u16(t.val[0]); y = vreinterpret_u8_u16(t.val[1]); }
#define dct_trn8_32(x, y) { uint32x2x2_t t = vtrn_u32(vreinterpret_u32_u8(x), vreinterpret_u32_u8(y)); x = vreinterpret_u8_u32(t.val[0]); y = vreinterpret_u8_u32(t.val[1]); }
// sadly can't use interleaved stores here since we only write
// 8 bytes to each scan line!
// 8x8 8-bit transpose pass 1
dct_trn8_8(p0, p1);
dct_trn8_8(p2, p3);
dct_trn8_8(p4, p5);
dct_trn8_8(p6, p7);
// pass 2
dct_trn8_16(p0, p2);
dct_trn8_16(p1, p3);
dct_trn8_16(p4, p6);
dct_trn8_16(p5, p7);
// pass 3
dct_trn8_32(p0, p4);
dct_trn8_32(p1, p5);
dct_trn8_32(p2, p6);
dct_trn8_32(p3, p7);
// store
vst1_u8(out, p0); out += out_stride;
vst1_u8(out, p1); out += out_stride;
vst1_u8(out, p2); out += out_stride;
vst1_u8(out, p3); out += out_stride;
vst1_u8(out, p4); out += out_stride;
vst1_u8(out, p5); out += out_stride;
vst1_u8(out, p6); out += out_stride;
vst1_u8(out, p7);
#undef dct_trn8_8
#undef dct_trn8_16
#undef dct_trn8_32
}
#undef dct_long_mul
#undef dct_long_mac
#undef dct_widen
#undef dct_wadd
#undef dct_wsub
#undef dct_bfly32o
#undef dct_pass
}
#endif // STBI_NEON
#define STBI__MARKER_none 0xff
// if there's a pending marker from the entropy stream, return that
// otherwise, fetch from the stream and get a marker. if there's no
// marker, return 0xff, which is never a valid marker value
static stbi_uc stbi__get_marker(stbi__jpeg *j)
{
stbi_uc x;
if (j->marker != STBI__MARKER_none) { x = j->marker; j->marker = STBI__MARKER_none; return x; }
x = stbi__get8(j->s);
if (x != 0xff) return STBI__MARKER_none;
while (x == 0xff)
x = stbi__get8(j->s); // consume repeated 0xff fill bytes
return x;
}
// in each scan, we'll have scan_n components, and the order
// of the components is specified by order[]
#define STBI__RESTART(x) ((x) >= 0xd0 && (x) <= 0xd7)
// after a restart interval, stbi__jpeg_reset the entropy decoder and
// the dc prediction
static void stbi__jpeg_reset(stbi__jpeg *j)
{
j->code_bits = 0;
j->code_buffer = 0;
j->nomore = 0;
j->img_comp[0].dc_pred = j->img_comp[1].dc_pred = j->img_comp[2].dc_pred = j->img_comp[3].dc_pred = 0;
j->marker = STBI__MARKER_none;
j->todo = j->restart_interval ? j->restart_interval : 0x7fffffff;
j->eob_run = 0;
// no more than 1<<31 MCUs if no restart_interal? that's plenty safe,
// since we don't even allow 1<<30 pixels
}
static int stbi__parse_entropy_coded_data(stbi__jpeg *z)
{
stbi__jpeg_reset(z);
if (!z->progressive) {
if (z->scan_n == 1) {
int i,j;
STBI_SIMD_ALIGN(short, data[64]);
int n = z->order[0];
// non-interleaved data, we just need to process one block at a time,
// in trivial scanline order
// number of blocks to do just depends on how many actual "pixels" this
// component has, independent of interleaved MCU blocking and such
int w = (z->img_comp[n].x+7) >> 3;
int h = (z->img_comp[n].y+7) >> 3;
for (j=0; j < h; ++j) {
for (i=0; i < w; ++i) {
int ha = z->img_comp[n].ha;
if (!stbi__jpeg_decode_block(z, data, z->huff_dc+z->img_comp[n].hd, z->huff_ac+ha, z->fast_ac[ha], n, z->dequant[z->img_comp[n].tq])) return 0;
z->idct_block_kernel(z->img_comp[n].data+z->img_comp[n].w2*j*8+i*8, z->img_comp[n].w2, data);
// every data block is an MCU, so countdown the restart interval
if (--z->todo <= 0) {
if (z->code_bits < 24) stbi__grow_buffer_unsafe(z);
// if it's NOT a restart, then just bail, so we get corrupt data
// rather than no data
if (!STBI__RESTART(z->marker)) return 1;
stbi__jpeg_reset(z);
}
}
}
return 1;
} else { // interleaved
int i,j,k,x,y;
STBI_SIMD_ALIGN(short, data[64]);
for (j=0; j < z->img_mcu_y; ++j) {
for (i=0; i < z->img_mcu_x; ++i) {
// scan an interleaved mcu... process scan_n components in order
for (k=0; k < z->scan_n; ++k) {
int n = z->order[k];
// scan out an mcu's worth of this component; that's just determined
// by the basic H and V specified for the component
for (y=0; y < z->img_comp[n].v; ++y) {
for (x=0; x < z->img_comp[n].h; ++x) {
int x2 = (i*z->img_comp[n].h + x)*8;
int y2 = (j*z->img_comp[n].v + y)*8;
int ha = z->img_comp[n].ha;
if (!stbi__jpeg_decode_block(z, data, z->huff_dc+z->img_comp[n].hd, z->huff_ac+ha, z->fast_ac[ha], n, z->dequant[z->img_comp[n].tq])) return 0;
z->idct_block_kernel(z->img_comp[n].data+z->img_comp[n].w2*y2+x2, z->img_comp[n].w2, data);
}
}
}
// after all interleaved components, that's an interleaved MCU,
// so now count down the restart interval
if (--z->todo <= 0) {
if (z->code_bits < 24) stbi__grow_buffer_unsafe(z);
if (!STBI__RESTART(z->marker)) return 1;
stbi__jpeg_reset(z);
}
}
}
return 1;
}
} else {
if (z->scan_n == 1) {
int i,j;
int n = z->order[0];
// non-interleaved data, we just need to process one block at a time,
// in trivial scanline order
// number of blocks to do just depends on how many actual "pixels" this
// component has, independent of interleaved MCU blocking and such
int w = (z->img_comp[n].x+7) >> 3;
int h = (z->img_comp[n].y+7) >> 3;
for (j=0; j < h; ++j) {
for (i=0; i < w; ++i) {
short *data = z->img_comp[n].coeff + 64 * (i + j * z->img_comp[n].coeff_w);
if (z->spec_start == 0) {
if (!stbi__jpeg_decode_block_prog_dc(z, data, &z->huff_dc[z->img_comp[n].hd], n))
return 0;
} else {
int ha = z->img_comp[n].ha;
if (!stbi__jpeg_decode_block_prog_ac(z, data, &z->huff_ac[ha], z->fast_ac[ha]))
return 0;
}
// every data block is an MCU, so countdown the restart interval
if (--z->todo <= 0) {
if (z->code_bits < 24) stbi__grow_buffer_unsafe(z);
if (!STBI__RESTART(z->marker)) return 1;
stbi__jpeg_reset(z);
}
}
}
return 1;
} else { // interleaved
int i,j,k,x,y;
for (j=0; j < z->img_mcu_y; ++j) {
for (i=0; i < z->img_mcu_x; ++i) {
// scan an interleaved mcu... process scan_n components in order
for (k=0; k < z->scan_n; ++k) {
int n = z->order[k];
// scan out an mcu's worth of this component; that's just determined
// by the basic H and V specified for the component
for (y=0; y < z->img_comp[n].v; ++y) {
for (x=0; x < z->img_comp[n].h; ++x) {
int x2 = (i*z->img_comp[n].h + x);
int y2 = (j*z->img_comp[n].v + y);
short *data = z->img_comp[n].coeff + 64 * (x2 + y2 * z->img_comp[n].coeff_w);
if (!stbi__jpeg_decode_block_prog_dc(z, data, &z->huff_dc[z->img_comp[n].hd], n))
return 0;
}
}
}
// after all interleaved components, that's an interleaved MCU,
// so now count down the restart interval
if (--z->todo <= 0) {
if (z->code_bits < 24) stbi__grow_buffer_unsafe(z);
if (!STBI__RESTART(z->marker)) return 1;
stbi__jpeg_reset(z);
}
}
}
return 1;
}
}
}
static void stbi__jpeg_dequantize(short *data, stbi__uint16 *dequant)
{
int i;
for (i=0; i < 64; ++i)
data[i] *= dequant[i];
}
static void stbi__jpeg_finish(stbi__jpeg *z)
{
if (z->progressive) {
// dequantize and idct the data
int i,j,n;
for (n=0; n < z->s->img_n; ++n) {
int w = (z->img_comp[n].x+7) >> 3;
int h = (z->img_comp[n].y+7) >> 3;
for (j=0; j < h; ++j) {
for (i=0; i < w; ++i) {
short *data = z->img_comp[n].coeff + 64 * (i + j * z->img_comp[n].coeff_w);
stbi__jpeg_dequantize(data, z->dequant[z->img_comp[n].tq]);
z->idct_block_kernel(z->img_comp[n].data+z->img_comp[n].w2*j*8+i*8, z->img_comp[n].w2, data);
}
}
}
}
}
static int stbi__process_marker(stbi__jpeg *z, int m)
{
int L;
switch (m) {
case STBI__MARKER_none: // no marker found
return stbi__err("expected marker","Corrupt JPEG");
case 0xDD: // DRI - specify restart interval
if (stbi__get16be(z->s) != 4) return stbi__err("bad DRI len","Corrupt JPEG");
z->restart_interval = stbi__get16be(z->s);
return 1;
case 0xDB: // DQT - define quantization table
L = stbi__get16be(z->s)-2;
while (L > 0) {
int q = stbi__get8(z->s);
int p = q >> 4, sixteen = (p != 0);
int t = q & 15,i;
if (p != 0 && p != 1) return stbi__err("bad DQT type","Corrupt JPEG");
if (t > 3) return stbi__err("bad DQT table","Corrupt JPEG");
for (i=0; i < 64; ++i)
z->dequant[t][stbi__jpeg_dezigzag[i]] = (stbi__uint16)(sixteen ? stbi__get16be(z->s) : stbi__get8(z->s));
L -= (sixteen ? 129 : 65);
}
return L==0;
case 0xC4: // DHT - define huffman table
L = stbi__get16be(z->s)-2;
while (L > 0) {
stbi_uc *v;
int sizes[16],i,n=0;
int q = stbi__get8(z->s);
int tc = q >> 4;
int th = q & 15;
if (tc > 1 || th > 3) return stbi__err("bad DHT header","Corrupt JPEG");
for (i=0; i < 16; ++i) {
sizes[i] = stbi__get8(z->s);
n += sizes[i];
}
L -= 17;
if (tc == 0) {
if (!stbi__build_huffman(z->huff_dc+th, sizes)) return 0;
v = z->huff_dc[th].values;
} else {
if (!stbi__build_huffman(z->huff_ac+th, sizes)) return 0;
v = z->huff_ac[th].values;
}
for (i=0; i < n; ++i)
v[i] = stbi__get8(z->s);
if (tc != 0)
stbi__build_fast_ac(z->fast_ac[th], z->huff_ac + th);
L -= n;
}
return L==0;
}
// check for comment block or APP blocks
if ((m >= 0xE0 && m <= 0xEF) || m == 0xFE) {
L = stbi__get16be(z->s);
if (L < 2) {
if (m == 0xFE)
return stbi__err("bad COM len","Corrupt JPEG");
else
return stbi__err("bad APP len","Corrupt JPEG");
}
L -= 2;
if (m == 0xE0 && L >= 5) { // JFIF APP0 segment
static const unsigned char tag[5] = {'J','F','I','F','\0'};
int ok = 1;
int i;
for (i=0; i < 5; ++i)
if (stbi__get8(z->s) != tag[i])
ok = 0;
L -= 5;
if (ok)
z->jfif = 1;
} else if (m == 0xEE && L >= 12) { // Adobe APP14 segment
static const unsigned char tag[6] = {'A','d','o','b','e','\0'};
int ok = 1;
int i;
for (i=0; i < 6; ++i)
if (stbi__get8(z->s) != tag[i])
ok = 0;
L -= 6;
if (ok) {
stbi__get8(z->s); // version
stbi__get16be(z->s); // flags0
stbi__get16be(z->s); // flags1
z->app14_color_transform = stbi__get8(z->s); // color transform
L -= 6;
}
}
stbi__skip(z->s, L);
return 1;
}
return stbi__err("unknown marker","Corrupt JPEG");
}
// after we see SOS
static int stbi__process_scan_header(stbi__jpeg *z)
{
int i;
int Ls = stbi__get16be(z->s);
z->scan_n = stbi__get8(z->s);
if (z->scan_n < 1 || z->scan_n > 4 || z->scan_n > (int) z->s->img_n) return stbi__err("bad SOS component count","Corrupt JPEG");
if (Ls != 6+2*z->scan_n) return stbi__err("bad SOS len","Corrupt JPEG");
for (i=0; i < z->scan_n; ++i) {
int id = stbi__get8(z->s), which;
int q = stbi__get8(z->s);
for (which = 0; which < z->s->img_n; ++which)
if (z->img_comp[which].id == id)
break;
if (which == z->s->img_n) return 0; // no match
z->img_comp[which].hd = q >> 4; if (z->img_comp[which].hd > 3) return stbi__err("bad DC huff","Corrupt JPEG");
z->img_comp[which].ha = q & 15; if (z->img_comp[which].ha > 3) return stbi__err("bad AC huff","Corrupt JPEG");
z->order[i] = which;
}
{
int aa;
z->spec_start = stbi__get8(z->s);
z->spec_end = stbi__get8(z->s); // should be 63, but might be 0
aa = stbi__get8(z->s);
z->succ_high = (aa >> 4);
z->succ_low = (aa & 15);
if (z->progressive) {
if (z->spec_start > 63 || z->spec_end > 63 || z->spec_start > z->spec_end || z->succ_high > 13 || z->succ_low > 13)
return stbi__err("bad SOS", "Corrupt JPEG");
} else {
if (z->spec_start != 0) return stbi__err("bad SOS","Corrupt JPEG");
if (z->succ_high != 0 || z->succ_low != 0) return stbi__err("bad SOS","Corrupt JPEG");
z->spec_end = 63;
}
}
return 1;
}
static int stbi__free_jpeg_components(stbi__jpeg *z, int ncomp, int why)
{
int i;
for (i=0; i < ncomp; ++i) {
if (z->img_comp[i].raw_data) {
STBI_FREE(z->img_comp[i].raw_data);
z->img_comp[i].raw_data = NULL;
z->img_comp[i].data = NULL;
}
if (z->img_comp[i].raw_coeff) {
STBI_FREE(z->img_comp[i].raw_coeff);
z->img_comp[i].raw_coeff = 0;
z->img_comp[i].coeff = 0;
}
if (z->img_comp[i].linebuf) {
STBI_FREE(z->img_comp[i].linebuf);
z->img_comp[i].linebuf = NULL;
}
}
return why;
}
static int stbi__process_frame_header(stbi__jpeg *z, int scan)
{
stbi__context *s = z->s;
int Lf,p,i,q, h_max=1,v_max=1,c;
Lf = stbi__get16be(s); if (Lf < 11) return stbi__err("bad SOF len","Corrupt JPEG"); // JPEG
p = stbi__get8(s); if (p != 8) return stbi__err("only 8-bit","JPEG format not supported: 8-bit only"); // JPEG baseline
s->img_y = stbi__get16be(s); if (s->img_y == 0) return stbi__err("no header height", "JPEG format not supported: delayed height"); // Legal, but we don't handle it--but neither does IJG
s->img_x = stbi__get16be(s); if (s->img_x == 0) return stbi__err("0 width","Corrupt JPEG"); // JPEG requires
if (s->img_y > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
if (s->img_x > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
c = stbi__get8(s);
if (c != 3 && c != 1 && c != 4) return stbi__err("bad component count","Corrupt JPEG");
s->img_n = c;
for (i=0; i < c; ++i) {
z->img_comp[i].data = NULL;
z->img_comp[i].linebuf = NULL;
}
if (Lf != 8+3*s->img_n) return stbi__err("bad SOF len","Corrupt JPEG");
z->rgb = 0;
for (i=0; i < s->img_n; ++i) {
static const unsigned char rgb[3] = { 'R', 'G', 'B' };
z->img_comp[i].id = stbi__get8(s);
if (s->img_n == 3 && z->img_comp[i].id == rgb[i])
++z->rgb;
q = stbi__get8(s);
z->img_comp[i].h = (q >> 4); if (!z->img_comp[i].h || z->img_comp[i].h > 4) return stbi__err("bad H","Corrupt JPEG");
z->img_comp[i].v = q & 15; if (!z->img_comp[i].v || z->img_comp[i].v > 4) return stbi__err("bad V","Corrupt JPEG");
z->img_comp[i].tq = stbi__get8(s); if (z->img_comp[i].tq > 3) return stbi__err("bad TQ","Corrupt JPEG");
}
if (scan != STBI__SCAN_load) return 1;
if (!stbi__mad3sizes_valid(s->img_x, s->img_y, s->img_n, 0)) return stbi__err("too large", "Image too large to decode");
for (i=0; i < s->img_n; ++i) {
if (z->img_comp[i].h > h_max) h_max = z->img_comp[i].h;
if (z->img_comp[i].v > v_max) v_max = z->img_comp[i].v;
}
// compute interleaved mcu info
z->img_h_max = h_max;
z->img_v_max = v_max;
z->img_mcu_w = h_max * 8;
z->img_mcu_h = v_max * 8;
// these sizes can't be more than 17 bits
z->img_mcu_x = (s->img_x + z->img_mcu_w-1) / z->img_mcu_w;
z->img_mcu_y = (s->img_y + z->img_mcu_h-1) / z->img_mcu_h;
for (i=0; i < s->img_n; ++i) {
// number of effective pixels (e.g. for non-interleaved MCU)
z->img_comp[i].x = (s->img_x * z->img_comp[i].h + h_max-1) / h_max;
z->img_comp[i].y = (s->img_y * z->img_comp[i].v + v_max-1) / v_max;
// to simplify generation, we'll allocate enough memory to decode
// the bogus oversized data from using interleaved MCUs and their
// big blocks (e.g. a 16x16 iMCU on an image of width 33); we won't
// discard the extra data until colorspace conversion
//
// img_mcu_x, img_mcu_y: <=17 bits; comp[i].h and .v are <=4 (checked earlier)
// so these muls can't overflow with 32-bit ints (which we require)
z->img_comp[i].w2 = z->img_mcu_x * z->img_comp[i].h * 8;
z->img_comp[i].h2 = z->img_mcu_y * z->img_comp[i].v * 8;
z->img_comp[i].coeff = 0;
z->img_comp[i].raw_coeff = 0;
z->img_comp[i].linebuf = NULL;
z->img_comp[i].raw_data = stbi__malloc_mad2(z->img_comp[i].w2, z->img_comp[i].h2, 15);
if (z->img_comp[i].raw_data == NULL)
return stbi__free_jpeg_components(z, i+1, stbi__err("outofmem", "Out of memory"));
// align blocks for idct using mmx/sse
z->img_comp[i].data = (stbi_uc*) (((size_t) z->img_comp[i].raw_data + 15) & ~15);
if (z->progressive) {
// w2, h2 are multiples of 8 (see above)
z->img_comp[i].coeff_w = z->img_comp[i].w2 / 8;
z->img_comp[i].coeff_h = z->img_comp[i].h2 / 8;
z->img_comp[i].raw_coeff = stbi__malloc_mad3(z->img_comp[i].w2, z->img_comp[i].h2, sizeof(short), 15);
if (z->img_comp[i].raw_coeff == NULL)
return stbi__free_jpeg_components(z, i+1, stbi__err("outofmem", "Out of memory"));
z->img_comp[i].coeff = (short*) (((size_t) z->img_comp[i].raw_coeff + 15) & ~15);
}
}
return 1;
}
// use comparisons since in some cases we handle more than one case (e.g. SOF)
#define stbi__DNL(x) ((x) == 0xdc)
#define stbi__SOI(x) ((x) == 0xd8)
#define stbi__EOI(x) ((x) == 0xd9)
#define stbi__SOF(x) ((x) == 0xc0 || (x) == 0xc1 || (x) == 0xc2)
#define stbi__SOS(x) ((x) == 0xda)
#define stbi__SOF_progressive(x) ((x) == 0xc2)
static int stbi__decode_jpeg_header(stbi__jpeg *z, int scan)
{
int m;
z->jfif = 0;
z->app14_color_transform = -1; // valid values are 0,1,2
z->marker = STBI__MARKER_none; // initialize cached marker to empty
m = stbi__get_marker(z);
if (!stbi__SOI(m)) return stbi__err("no SOI","Corrupt JPEG");
if (scan == STBI__SCAN_type) return 1;
m = stbi__get_marker(z);
while (!stbi__SOF(m)) {
if (!stbi__process_marker(z,m)) return 0;
m = stbi__get_marker(z);
while (m == STBI__MARKER_none) {
// some files have extra padding after their blocks, so ok, we'll scan
if (stbi__at_eof(z->s)) return stbi__err("no SOF", "Corrupt JPEG");
m = stbi__get_marker(z);
}
}
z->progressive = stbi__SOF_progressive(m);
if (!stbi__process_frame_header(z, scan)) return 0;
return 1;
}
// decode image to YCbCr format
static int stbi__decode_jpeg_image(stbi__jpeg *j)
{
int m;
for (m = 0; m < 4; m++) {
j->img_comp[m].raw_data = NULL;
j->img_comp[m].raw_coeff = NULL;
}
j->restart_interval = 0;
if (!stbi__decode_jpeg_header(j, STBI__SCAN_load)) return 0;
m = stbi__get_marker(j);
while (!stbi__EOI(m)) {
if (stbi__SOS(m)) {
if (!stbi__process_scan_header(j)) return 0;
if (!stbi__parse_entropy_coded_data(j)) return 0;
if (j->marker == STBI__MARKER_none ) {
// handle 0s at the end of image data from IP Kamera 9060
while (!stbi__at_eof(j->s)) {
int x = stbi__get8(j->s);
if (x == 255) {
j->marker = stbi__get8(j->s);
break;
}
}
// if we reach eof without hitting a marker, stbi__get_marker() below will fail and we'll eventually return 0
}
} else if (stbi__DNL(m)) {
int Ld = stbi__get16be(j->s);
stbi__uint32 NL = stbi__get16be(j->s);
if (Ld != 4) return stbi__err("bad DNL len", "Corrupt JPEG");
if (NL != j->s->img_y) return stbi__err("bad DNL height", "Corrupt JPEG");
} else {
if (!stbi__process_marker(j, m)) return 0;
}
m = stbi__get_marker(j);
}
if (j->progressive)
stbi__jpeg_finish(j);
return 1;
}
// static jfif-centered resampling (across block boundaries)
typedef stbi_uc *(*resample_row_func)(stbi_uc *out, stbi_uc *in0, stbi_uc *in1,
int w, int hs);
#define stbi__div4(x) ((stbi_uc) ((x) >> 2))
static stbi_uc *resample_row_1(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
STBI_NOTUSED(out);
STBI_NOTUSED(in_far);
STBI_NOTUSED(w);
STBI_NOTUSED(hs);
return in_near;
}
static stbi_uc* stbi__resample_row_v_2(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
// need to generate two samples vertically for every one in input
int i;
STBI_NOTUSED(hs);
for (i=0; i < w; ++i)
out[i] = stbi__div4(3*in_near[i] + in_far[i] + 2);
return out;
}
static stbi_uc* stbi__resample_row_h_2(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
// need to generate two samples horizontally for every one in input
int i;
stbi_uc *input = in_near;
if (w == 1) {
// if only one sample, can't do any interpolation
out[0] = out[1] = input[0];
return out;
}
out[0] = input[0];
out[1] = stbi__div4(input[0]*3 + input[1] + 2);
for (i=1; i < w-1; ++i) {
int n = 3*input[i]+2;
out[i*2+0] = stbi__div4(n+input[i-1]);
out[i*2+1] = stbi__div4(n+input[i+1]);
}
out[i*2+0] = stbi__div4(input[w-2]*3 + input[w-1] + 2);
out[i*2+1] = input[w-1];
STBI_NOTUSED(in_far);
STBI_NOTUSED(hs);
return out;
}
#define stbi__div16(x) ((stbi_uc) ((x) >> 4))
static stbi_uc *stbi__resample_row_hv_2(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
// need to generate 2x2 samples for every one in input
int i,t0,t1;
if (w == 1) {
out[0] = out[1] = stbi__div4(3*in_near[0] + in_far[0] + 2);
return out;
}
t1 = 3*in_near[0] + in_far[0];
out[0] = stbi__div4(t1+2);
for (i=1; i < w; ++i) {
t0 = t1;
t1 = 3*in_near[i]+in_far[i];
out[i*2-1] = stbi__div16(3*t0 + t1 + 8);
out[i*2 ] = stbi__div16(3*t1 + t0 + 8);
}
out[w*2-1] = stbi__div4(t1+2);
STBI_NOTUSED(hs);
return out;
}
#if defined(STBI_SSE2) || defined(STBI_NEON)
static stbi_uc *stbi__resample_row_hv_2_simd(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
// need to generate 2x2 samples for every one in input
int i=0,t0,t1;
if (w == 1) {
out[0] = out[1] = stbi__div4(3*in_near[0] + in_far[0] + 2);
return out;
}
t1 = 3*in_near[0] + in_far[0];
// process groups of 8 pixels for as long as we can.
// note we can't handle the last pixel in a row in this loop
// because we need to handle the filter boundary conditions.
for (; i < ((w-1) & ~7); i += 8) {
#if defined(STBI_SSE2)
// load and perform the vertical filtering pass
// this uses 3*x + y = 4*x + (y - x)
__m128i zero = _mm_setzero_si128();
__m128i farb = _mm_loadl_epi64((__m128i *) (in_far + i));
__m128i nearb = _mm_loadl_epi64((__m128i *) (in_near + i));
__m128i farw = _mm_unpacklo_epi8(farb, zero);
__m128i nearw = _mm_unpacklo_epi8(nearb, zero);
__m128i diff = _mm_sub_epi16(farw, nearw);
__m128i nears = _mm_slli_epi16(nearw, 2);
__m128i curr = _mm_add_epi16(nears, diff); // current row
// horizontal filter works the same based on shifted vers of current
// row. "prev" is current row shifted right by 1 pixel; we need to
// insert the previous pixel value (from t1).
// "next" is current row shifted left by 1 pixel, with first pixel
// of next block of 8 pixels added in.
__m128i prv0 = _mm_slli_si128(curr, 2);
__m128i nxt0 = _mm_srli_si128(curr, 2);
__m128i prev = _mm_insert_epi16(prv0, t1, 0);
__m128i next = _mm_insert_epi16(nxt0, 3*in_near[i+8] + in_far[i+8], 7);
// horizontal filter, polyphase implementation since it's convenient:
// even pixels = 3*cur + prev = cur*4 + (prev - cur)
// odd pixels = 3*cur + next = cur*4 + (next - cur)
// note the shared term.
__m128i bias = _mm_set1_epi16(8);
__m128i curs = _mm_slli_epi16(curr, 2);
__m128i prvd = _mm_sub_epi16(prev, curr);
__m128i nxtd = _mm_sub_epi16(next, curr);
__m128i curb = _mm_add_epi16(curs, bias);
__m128i even = _mm_add_epi16(prvd, curb);
__m128i odd = _mm_add_epi16(nxtd, curb);
// interleave even and odd pixels, then undo scaling.
__m128i int0 = _mm_unpacklo_epi16(even, odd);
__m128i int1 = _mm_unpackhi_epi16(even, odd);
__m128i de0 = _mm_srli_epi16(int0, 4);
__m128i de1 = _mm_srli_epi16(int1, 4);
// pack and write output
__m128i outv = _mm_packus_epi16(de0, de1);
_mm_storeu_si128((__m128i *) (out + i*2), outv);
#elif defined(STBI_NEON)
// load and perform the vertical filtering pass
// this uses 3*x + y = 4*x + (y - x)
uint8x8_t farb = vld1_u8(in_far + i);
uint8x8_t nearb = vld1_u8(in_near + i);
int16x8_t diff = vreinterpretq_s16_u16(vsubl_u8(farb, nearb));
int16x8_t nears = vreinterpretq_s16_u16(vshll_n_u8(nearb, 2));
int16x8_t curr = vaddq_s16(nears, diff); // current row
// horizontal filter works the same based on shifted vers of current
// row. "prev" is current row shifted right by 1 pixel; we need to
// insert the previous pixel value (from t1).
// "next" is current row shifted left by 1 pixel, with first pixel
// of next block of 8 pixels added in.
int16x8_t prv0 = vextq_s16(curr, curr, 7);
int16x8_t nxt0 = vextq_s16(curr, curr, 1);
int16x8_t prev = vsetq_lane_s16(t1, prv0, 0);
int16x8_t next = vsetq_lane_s16(3*in_near[i+8] + in_far[i+8], nxt0, 7);
// horizontal filter, polyphase implementation since it's convenient:
// even pixels = 3*cur + prev = cur*4 + (prev - cur)
// odd pixels = 3*cur + next = cur*4 + (next - cur)
// note the shared term.
int16x8_t curs = vshlq_n_s16(curr, 2);
int16x8_t prvd = vsubq_s16(prev, curr);
int16x8_t nxtd = vsubq_s16(next, curr);
int16x8_t even = vaddq_s16(curs, prvd);
int16x8_t odd = vaddq_s16(curs, nxtd);
// undo scaling and round, then store with even/odd phases interleaved
uint8x8x2_t o;
o.val[0] = vqrshrun_n_s16(even, 4);
o.val[1] = vqrshrun_n_s16(odd, 4);
vst2_u8(out + i*2, o);
#endif
// "previous" value for next iter
t1 = 3*in_near[i+7] + in_far[i+7];
}
t0 = t1;
t1 = 3*in_near[i] + in_far[i];
out[i*2] = stbi__div16(3*t1 + t0 + 8);
for (++i; i < w; ++i) {
t0 = t1;
t1 = 3*in_near[i]+in_far[i];
out[i*2-1] = stbi__div16(3*t0 + t1 + 8);
out[i*2 ] = stbi__div16(3*t1 + t0 + 8);
}
out[w*2-1] = stbi__div4(t1+2);
STBI_NOTUSED(hs);
return out;
}
#endif
static stbi_uc *stbi__resample_row_generic(stbi_uc *out, stbi_uc *in_near, stbi_uc *in_far, int w, int hs)
{
// resample with nearest-neighbor
int i,j;
STBI_NOTUSED(in_far);
for (i=0; i < w; ++i)
for (j=0; j < hs; ++j)
out[i*hs+j] = in_near[i];
return out;
}
// this is a reduced-precision calculation of YCbCr-to-RGB introduced
// to make sure the code produces the same results in both SIMD and scalar
#define stbi__float2fixed(x) (((int) ((x) * 4096.0f + 0.5f)) << 8)
static void stbi__YCbCr_to_RGB_row(stbi_uc *out, const stbi_uc *y, const stbi_uc *pcb, const stbi_uc *pcr, int count, int step)
{
int i;
for (i=0; i < count; ++i) {
int y_fixed = (y[i] << 20) + (1<<19); // rounding
int r,g,b;
int cr = pcr[i] - 128;
int cb = pcb[i] - 128;
r = y_fixed + cr* stbi__float2fixed(1.40200f);
g = y_fixed + (cr*-stbi__float2fixed(0.71414f)) + ((cb*-stbi__float2fixed(0.34414f)) & 0xffff0000);
b = y_fixed + cb* stbi__float2fixed(1.77200f);
r >>= 20;
g >>= 20;
b >>= 20;
if ((unsigned) r > 255) { if (r < 0) r = 0; else r = 255; }
if ((unsigned) g > 255) { if (g < 0) g = 0; else g = 255; }
if ((unsigned) b > 255) { if (b < 0) b = 0; else b = 255; }
out[0] = (stbi_uc)r;
out[1] = (stbi_uc)g;
out[2] = (stbi_uc)b;
out[3] = 255;
out += step;
}
}
#if defined(STBI_SSE2) || defined(STBI_NEON)
static void stbi__YCbCr_to_RGB_simd(stbi_uc *out, stbi_uc const *y, stbi_uc const *pcb, stbi_uc const *pcr, int count, int step)
{
int i = 0;
#ifdef STBI_SSE2
// step == 3 is pretty ugly on the final interleave, and i'm not convinced
// it's useful in practice (you wouldn't use it for textures, for example).
// so just accelerate step == 4 case.
if (step == 4) {
// this is a fairly straightforward implementation and not super-optimized.
__m128i signflip = _mm_set1_epi8(-0x80);
__m128i cr_const0 = _mm_set1_epi16( (short) ( 1.40200f*4096.0f+0.5f));
__m128i cr_const1 = _mm_set1_epi16( - (short) ( 0.71414f*4096.0f+0.5f));
__m128i cb_const0 = _mm_set1_epi16( - (short) ( 0.34414f*4096.0f+0.5f));
__m128i cb_const1 = _mm_set1_epi16( (short) ( 1.77200f*4096.0f+0.5f));
__m128i y_bias = _mm_set1_epi8((char) (unsigned char) 128);
__m128i xw = _mm_set1_epi16(255); // alpha channel
for (; i+7 < count; i += 8) {
// load
__m128i y_bytes = _mm_loadl_epi64((__m128i *) (y+i));
__m128i cr_bytes = _mm_loadl_epi64((__m128i *) (pcr+i));
__m128i cb_bytes = _mm_loadl_epi64((__m128i *) (pcb+i));
__m128i cr_biased = _mm_xor_si128(cr_bytes, signflip); // -128
__m128i cb_biased = _mm_xor_si128(cb_bytes, signflip); // -128
// unpack to short (and left-shift cr, cb by 8)
__m128i yw = _mm_unpacklo_epi8(y_bias, y_bytes);
__m128i crw = _mm_unpacklo_epi8(_mm_setzero_si128(), cr_biased);
__m128i cbw = _mm_unpacklo_epi8(_mm_setzero_si128(), cb_biased);
// color transform
__m128i yws = _mm_srli_epi16(yw, 4);
__m128i cr0 = _mm_mulhi_epi16(cr_const0, crw);
__m128i cb0 = _mm_mulhi_epi16(cb_const0, cbw);
__m128i cb1 = _mm_mulhi_epi16(cbw, cb_const1);
__m128i cr1 = _mm_mulhi_epi16(crw, cr_const1);
__m128i rws = _mm_add_epi16(cr0, yws);
__m128i gwt = _mm_add_epi16(cb0, yws);
__m128i bws = _mm_add_epi16(yws, cb1);
__m128i gws = _mm_add_epi16(gwt, cr1);
// descale
__m128i rw = _mm_srai_epi16(rws, 4);
__m128i bw = _mm_srai_epi16(bws, 4);
__m128i gw = _mm_srai_epi16(gws, 4);
// back to byte, set up for transpose
__m128i brb = _mm_packus_epi16(rw, bw);
__m128i gxb = _mm_packus_epi16(gw, xw);
// transpose to interleave channels
__m128i t0 = _mm_unpacklo_epi8(brb, gxb);
__m128i t1 = _mm_unpackhi_epi8(brb, gxb);
__m128i o0 = _mm_unpacklo_epi16(t0, t1);
__m128i o1 = _mm_unpackhi_epi16(t0, t1);
// store
_mm_storeu_si128((__m128i *) (out + 0), o0);
_mm_storeu_si128((__m128i *) (out + 16), o1);
out += 32;
}
}
#endif
#ifdef STBI_NEON
// in this version, step=3 support would be easy to add. but is there demand?
if (step == 4) {
// this is a fairly straightforward implementation and not super-optimized.
uint8x8_t signflip = vdup_n_u8(0x80);
int16x8_t cr_const0 = vdupq_n_s16( (short) ( 1.40200f*4096.0f+0.5f));
int16x8_t cr_const1 = vdupq_n_s16( - (short) ( 0.71414f*4096.0f+0.5f));
int16x8_t cb_const0 = vdupq_n_s16( - (short) ( 0.34414f*4096.0f+0.5f));
int16x8_t cb_const1 = vdupq_n_s16( (short) ( 1.77200f*4096.0f+0.5f));
for (; i+7 < count; i += 8) {
// load
uint8x8_t y_bytes = vld1_u8(y + i);
uint8x8_t cr_bytes = vld1_u8(pcr + i);
uint8x8_t cb_bytes = vld1_u8(pcb + i);
int8x8_t cr_biased = vreinterpret_s8_u8(vsub_u8(cr_bytes, signflip));
int8x8_t cb_biased = vreinterpret_s8_u8(vsub_u8(cb_bytes, signflip));
// expand to s16
int16x8_t yws = vreinterpretq_s16_u16(vshll_n_u8(y_bytes, 4));
int16x8_t crw = vshll_n_s8(cr_biased, 7);
int16x8_t cbw = vshll_n_s8(cb_biased, 7);
// color transform
int16x8_t cr0 = vqdmulhq_s16(crw, cr_const0);
int16x8_t cb0 = vqdmulhq_s16(cbw, cb_const0);
int16x8_t cr1 = vqdmulhq_s16(crw, cr_const1);
int16x8_t cb1 = vqdmulhq_s16(cbw, cb_const1);
int16x8_t rws = vaddq_s16(yws, cr0);
int16x8_t gws = vaddq_s16(vaddq_s16(yws, cb0), cr1);
int16x8_t bws = vaddq_s16(yws, cb1);
// undo scaling, round, convert to byte
uint8x8x4_t o;
o.val[0] = vqrshrun_n_s16(rws, 4);
o.val[1] = vqrshrun_n_s16(gws, 4);
o.val[2] = vqrshrun_n_s16(bws, 4);
o.val[3] = vdup_n_u8(255);
// store, interleaving r/g/b/a
vst4_u8(out, o);
out += 8*4;
}
}
#endif
for (; i < count; ++i) {
int y_fixed = (y[i] << 20) + (1<<19); // rounding
int r,g,b;
int cr = pcr[i] - 128;
int cb = pcb[i] - 128;
r = y_fixed + cr* stbi__float2fixed(1.40200f);
g = y_fixed + cr*-stbi__float2fixed(0.71414f) + ((cb*-stbi__float2fixed(0.34414f)) & 0xffff0000);
b = y_fixed + cb* stbi__float2fixed(1.77200f);
r >>= 20;
g >>= 20;
b >>= 20;
if ((unsigned) r > 255) { if (r < 0) r = 0; else r = 255; }
if ((unsigned) g > 255) { if (g < 0) g = 0; else g = 255; }
if ((unsigned) b > 255) { if (b < 0) b = 0; else b = 255; }
out[0] = (stbi_uc)r;
out[1] = (stbi_uc)g;
out[2] = (stbi_uc)b;
out[3] = 255;
out += step;
}
}
#endif
// set up the kernels
static void stbi__setup_jpeg(stbi__jpeg *j)
{
j->idct_block_kernel = stbi__idct_block;
j->YCbCr_to_RGB_kernel = stbi__YCbCr_to_RGB_row;
j->resample_row_hv_2_kernel = stbi__resample_row_hv_2;
#ifdef STBI_SSE2
if (stbi__sse2_available()) {
j->idct_block_kernel = stbi__idct_simd;
j->YCbCr_to_RGB_kernel = stbi__YCbCr_to_RGB_simd;
j->resample_row_hv_2_kernel = stbi__resample_row_hv_2_simd;
}
#endif
#ifdef STBI_NEON
j->idct_block_kernel = stbi__idct_simd;
j->YCbCr_to_RGB_kernel = stbi__YCbCr_to_RGB_simd;
j->resample_row_hv_2_kernel = stbi__resample_row_hv_2_simd;
#endif
}
// clean up the temporary component buffers
static void stbi__cleanup_jpeg(stbi__jpeg *j)
{
stbi__free_jpeg_components(j, j->s->img_n, 0);
}
typedef struct
{
resample_row_func resample;
stbi_uc *line0,*line1;
int hs,vs; // expansion factor in each axis
int w_lores; // horizontal pixels pre-expansion
int ystep; // how far through vertical expansion we are
int ypos; // which pre-expansion row we're on
} stbi__resample;
// fast 0..255 * 0..255 => 0..255 rounded multiplication
static stbi_uc stbi__blinn_8x8(stbi_uc x, stbi_uc y)
{
unsigned int t = x*y + 128;
return (stbi_uc) ((t + (t >>8)) >> 8);
}
static stbi_uc *load_jpeg_image(stbi__jpeg *z, int *out_x, int *out_y, int *comp, int req_comp)
{
int n, decode_n, is_rgb;
z->s->img_n = 0; // make stbi__cleanup_jpeg safe
// validate req_comp
if (req_comp < 0 || req_comp > 4) return stbi__errpuc("bad req_comp", "Internal error");
// load a jpeg image from whichever source, but leave in YCbCr format
if (!stbi__decode_jpeg_image(z)) { stbi__cleanup_jpeg(z); return NULL; }
// determine actual number of components to generate
n = req_comp ? req_comp : z->s->img_n >= 3 ? 3 : 1;
is_rgb = z->s->img_n == 3 && (z->rgb == 3 || (z->app14_color_transform == 0 && !z->jfif));
if (z->s->img_n == 3 && n < 3 && !is_rgb)
decode_n = 1;
else
decode_n = z->s->img_n;
// resample and color-convert
{
int k;
unsigned int i,j;
stbi_uc *output;
stbi_uc *coutput[4] = { NULL, NULL, NULL, NULL };
stbi__resample res_comp[4];
for (k=0; k < decode_n; ++k) {
stbi__resample *r = &res_comp[k];
// allocate line buffer big enough for upsampling off the edges
// with upsample factor of 4
z->img_comp[k].linebuf = (stbi_uc *) stbi__malloc(z->s->img_x + 3);
if (!z->img_comp[k].linebuf) { stbi__cleanup_jpeg(z); return stbi__errpuc("outofmem", "Out of memory"); }
r->hs = z->img_h_max / z->img_comp[k].h;
r->vs = z->img_v_max / z->img_comp[k].v;
r->ystep = r->vs >> 1;
r->w_lores = (z->s->img_x + r->hs-1) / r->hs;
r->ypos = 0;
r->line0 = r->line1 = z->img_comp[k].data;
if (r->hs == 1 && r->vs == 1) r->resample = resample_row_1;
else if (r->hs == 1 && r->vs == 2) r->resample = stbi__resample_row_v_2;
else if (r->hs == 2 && r->vs == 1) r->resample = stbi__resample_row_h_2;
else if (r->hs == 2 && r->vs == 2) r->resample = z->resample_row_hv_2_kernel;
else r->resample = stbi__resample_row_generic;
}
// can't error after this so, this is safe
output = (stbi_uc *) stbi__malloc_mad3(n, z->s->img_x, z->s->img_y, 1);
if (!output) { stbi__cleanup_jpeg(z); return stbi__errpuc("outofmem", "Out of memory"); }
// now go ahead and resample
for (j=0; j < z->s->img_y; ++j) {
stbi_uc *out = output + n * z->s->img_x * j;
for (k=0; k < decode_n; ++k) {
stbi__resample *r = &res_comp[k];
int y_bot = r->ystep >= (r->vs >> 1);
coutput[k] = r->resample(z->img_comp[k].linebuf,
y_bot ? r->line1 : r->line0,
y_bot ? r->line0 : r->line1,
r->w_lores, r->hs);
if (++r->ystep >= r->vs) {
r->ystep = 0;
r->line0 = r->line1;
if (++r->ypos < z->img_comp[k].y)
r->line1 += z->img_comp[k].w2;
}
}
if (n >= 3) {
stbi_uc *y = coutput[0];
if (z->s->img_n == 3) {
if (is_rgb) {
for (i=0; i < z->s->img_x; ++i) {
out[0] = y[i];
out[1] = coutput[1][i];
out[2] = coutput[2][i];
out[3] = 255;
out += n;
}
} else {
z->YCbCr_to_RGB_kernel(out, y, coutput[1], coutput[2], z->s->img_x, n);
}
} else if (z->s->img_n == 4) {
if (z->app14_color_transform == 0) { // CMYK
for (i=0; i < z->s->img_x; ++i) {
stbi_uc m = coutput[3][i];
out[0] = stbi__blinn_8x8(coutput[0][i], m);
out[1] = stbi__blinn_8x8(coutput[1][i], m);
out[2] = stbi__blinn_8x8(coutput[2][i], m);
out[3] = 255;
out += n;
}
} else if (z->app14_color_transform == 2) { // YCCK
z->YCbCr_to_RGB_kernel(out, y, coutput[1], coutput[2], z->s->img_x, n);
for (i=0; i < z->s->img_x; ++i) {
stbi_uc m = coutput[3][i];
out[0] = stbi__blinn_8x8(255 - out[0], m);
out[1] = stbi__blinn_8x8(255 - out[1], m);
out[2] = stbi__blinn_8x8(255 - out[2], m);
out += n;
}
} else { // YCbCr + alpha? Ignore the fourth channel for now
z->YCbCr_to_RGB_kernel(out, y, coutput[1], coutput[2], z->s->img_x, n);
}
} else
for (i=0; i < z->s->img_x; ++i) {
out[0] = out[1] = out[2] = y[i];
out[3] = 255; // not used if n==3
out += n;
}
} else {
if (is_rgb) {
if (n == 1)
for (i=0; i < z->s->img_x; ++i)
*out++ = stbi__compute_y(coutput[0][i], coutput[1][i], coutput[2][i]);
else {
for (i=0; i < z->s->img_x; ++i, out += 2) {
out[0] = stbi__compute_y(coutput[0][i], coutput[1][i], coutput[2][i]);
out[1] = 255;
}
}
} else if (z->s->img_n == 4 && z->app14_color_transform == 0) {
for (i=0; i < z->s->img_x; ++i) {
stbi_uc m = coutput[3][i];
stbi_uc r = stbi__blinn_8x8(coutput[0][i], m);
stbi_uc g = stbi__blinn_8x8(coutput[1][i], m);
stbi_uc b = stbi__blinn_8x8(coutput[2][i], m);
out[0] = stbi__compute_y(r, g, b);
out[1] = 255;
out += n;
}
} else if (z->s->img_n == 4 && z->app14_color_transform == 2) {
for (i=0; i < z->s->img_x; ++i) {
out[0] = stbi__blinn_8x8(255 - coutput[0][i], coutput[3][i]);
out[1] = 255;
out += n;
}
} else {
stbi_uc *y = coutput[0];
if (n == 1)
for (i=0; i < z->s->img_x; ++i) out[i] = y[i];
else
for (i=0; i < z->s->img_x; ++i) { *out++ = y[i]; *out++ = 255; }
}
}
}
stbi__cleanup_jpeg(z);
*out_x = z->s->img_x;
*out_y = z->s->img_y;
if (comp) *comp = z->s->img_n >= 3 ? 3 : 1; // report original components, not output
return output;
}
}
static void *stbi__jpeg_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
unsigned char* result;
stbi__jpeg* j = (stbi__jpeg*) stbi__malloc(sizeof(stbi__jpeg));
STBI_NOTUSED(ri);
j->s = s;
stbi__setup_jpeg(j);
result = load_jpeg_image(j, x,y,comp,req_comp);
STBI_FREE(j);
return result;
}
static int stbi__jpeg_test(stbi__context *s)
{
int r;
stbi__jpeg* j = (stbi__jpeg*)stbi__malloc(sizeof(stbi__jpeg));
j->s = s;
stbi__setup_jpeg(j);
r = stbi__decode_jpeg_header(j, STBI__SCAN_type);
stbi__rewind(s);
STBI_FREE(j);
return r;
}
static int stbi__jpeg_info_raw(stbi__jpeg *j, int *x, int *y, int *comp)
{
if (!stbi__decode_jpeg_header(j, STBI__SCAN_header)) {
stbi__rewind( j->s );
return 0;
}
if (x) *x = j->s->img_x;
if (y) *y = j->s->img_y;
if (comp) *comp = j->s->img_n >= 3 ? 3 : 1;
return 1;
}
static int stbi__jpeg_info(stbi__context *s, int *x, int *y, int *comp)
{
int result;
stbi__jpeg* j = (stbi__jpeg*) (stbi__malloc(sizeof(stbi__jpeg)));
j->s = s;
result = stbi__jpeg_info_raw(j, x, y, comp);
STBI_FREE(j);
return result;
}
#endif
// public domain zlib decode v0.2 Sean Barrett 2006-11-18
// simple implementation
// - all input must be provided in an upfront buffer
// - all output is written to a single output buffer (can malloc/realloc)
// performance
// - fast huffman
#ifndef STBI_NO_ZLIB
// fast-way is faster to check than jpeg huffman, but slow way is slower
#define STBI__ZFAST_BITS 9 // accelerate all cases in default tables
#define STBI__ZFAST_MASK ((1 << STBI__ZFAST_BITS) - 1)
// zlib-style huffman encoding
// (jpegs packs from left, zlib from right, so can't share code)
typedef struct
{
stbi__uint16 fast[1 << STBI__ZFAST_BITS];
stbi__uint16 firstcode[16];
int maxcode[17];
stbi__uint16 firstsymbol[16];
stbi_uc size[288];
stbi__uint16 value[288];
} stbi__zhuffman;
stbi_inline static int stbi__bitreverse16(int n)
{
n = ((n & 0xAAAA) >> 1) | ((n & 0x5555) << 1);
n = ((n & 0xCCCC) >> 2) | ((n & 0x3333) << 2);
n = ((n & 0xF0F0) >> 4) | ((n & 0x0F0F) << 4);
n = ((n & 0xFF00) >> 8) | ((n & 0x00FF) << 8);
return n;
}
stbi_inline static int stbi__bit_reverse(int v, int bits)
{
STBI_ASSERT(bits <= 16);
// to bit reverse n bits, reverse 16 and shift
// e.g. 11 bits, bit reverse and shift away 5
return stbi__bitreverse16(v) >> (16-bits);
}
static int stbi__zbuild_huffman(stbi__zhuffman *z, const stbi_uc *sizelist, int num)
{
int i,k=0;
int code, next_code[16], sizes[17];
// DEFLATE spec for generating codes
memset(sizes, 0, sizeof(sizes));
memset(z->fast, 0, sizeof(z->fast));
for (i=0; i < num; ++i)
++sizes[sizelist[i]];
sizes[0] = 0;
for (i=1; i < 16; ++i)
if (sizes[i] > (1 << i))
return stbi__err("bad sizes", "Corrupt PNG");
code = 0;
for (i=1; i < 16; ++i) {
next_code[i] = code;
z->firstcode[i] = (stbi__uint16) code;
z->firstsymbol[i] = (stbi__uint16) k;
code = (code + sizes[i]);
if (sizes[i])
if (code-1 >= (1 << i)) return stbi__err("bad codelengths","Corrupt PNG");
z->maxcode[i] = code << (16-i); // preshift for inner loop
code <<= 1;
k += sizes[i];
}
z->maxcode[16] = 0x10000; // sentinel
for (i=0; i < num; ++i) {
int s = sizelist[i];
if (s) {
int c = next_code[s] - z->firstcode[s] + z->firstsymbol[s];
stbi__uint16 fastv = (stbi__uint16) ((s << 9) | i);
z->size [c] = (stbi_uc ) s;
z->value[c] = (stbi__uint16) i;
if (s <= STBI__ZFAST_BITS) {
int j = stbi__bit_reverse(next_code[s],s);
while (j < (1 << STBI__ZFAST_BITS)) {
z->fast[j] = fastv;
j += (1 << s);
}
}
++next_code[s];
}
}
return 1;
}
// zlib-from-memory implementation for PNG reading
// because PNG allows splitting the zlib stream arbitrarily,
// and it's annoying structurally to have PNG call ZLIB call PNG,
// we require PNG read all the IDATs and combine them into a single
// memory buffer
typedef struct
{
stbi_uc *zbuffer, *zbuffer_end;
int num_bits;
stbi__uint32 code_buffer;
char *zout;
char *zout_start;
char *zout_end;
int z_expandable;
stbi__zhuffman z_length, z_distance;
} stbi__zbuf;
stbi_inline static int stbi__zeof(stbi__zbuf *z)
{
return (z->zbuffer >= z->zbuffer_end);
}
stbi_inline static stbi_uc stbi__zget8(stbi__zbuf *z)
{
return stbi__zeof(z) ? 0 : *z->zbuffer++;
}
static void stbi__fill_bits(stbi__zbuf *z)
{
do {
if (z->code_buffer >= (1U << z->num_bits)) {
z->zbuffer = z->zbuffer_end; /* treat this as EOF so we fail. */
return;
}
z->code_buffer |= (unsigned int) stbi__zget8(z) << z->num_bits;
z->num_bits += 8;
} while (z->num_bits <= 24);
}
stbi_inline static unsigned int stbi__zreceive(stbi__zbuf *z, int n)
{
unsigned int k;
if (z->num_bits < n) stbi__fill_bits(z);
k = z->code_buffer & ((1 << n) - 1);
z->code_buffer >>= n;
z->num_bits -= n;
return k;
}
static int stbi__zhuffman_decode_slowpath(stbi__zbuf *a, stbi__zhuffman *z)
{
int b,s,k;
// not resolved by fast table, so compute it the slow way
// use jpeg approach, which requires MSbits at top
k = stbi__bit_reverse(a->code_buffer, 16);
for (s=STBI__ZFAST_BITS+1; ; ++s)
if (k < z->maxcode[s])
break;
if (s >= 16) return -1; // invalid code!
// code size is s, so:
b = (k >> (16-s)) - z->firstcode[s] + z->firstsymbol[s];
if (b >= sizeof (z->size)) return -1; // some data was corrupt somewhere!
if (z->size[b] != s) return -1; // was originally an assert, but report failure instead.
a->code_buffer >>= s;
a->num_bits -= s;
return z->value[b];
}
stbi_inline static int stbi__zhuffman_decode(stbi__zbuf *a, stbi__zhuffman *z)
{
int b,s;
if (a->num_bits < 16) {
if (stbi__zeof(a)) {
return -1; /* report error for unexpected end of data. */
}
stbi__fill_bits(a);
}
b = z->fast[a->code_buffer & STBI__ZFAST_MASK];
if (b) {
s = b >> 9;
a->code_buffer >>= s;
a->num_bits -= s;
return b & 511;
}
return stbi__zhuffman_decode_slowpath(a, z);
}
static int stbi__zexpand(stbi__zbuf *z, char *zout, int n) // need to make room for n bytes
{
char *q;
unsigned int cur, limit, old_limit;
z->zout = zout;
if (!z->z_expandable) return stbi__err("output buffer limit","Corrupt PNG");
cur = (unsigned int) (z->zout - z->zout_start);
limit = old_limit = (unsigned) (z->zout_end - z->zout_start);
if (UINT_MAX - cur < (unsigned) n) return stbi__err("outofmem", "Out of memory");
while (cur + n > limit) {
if(limit > UINT_MAX / 2) return stbi__err("outofmem", "Out of memory");
limit *= 2;
}
q = (char *) STBI_REALLOC_SIZED(z->zout_start, old_limit, limit);
STBI_NOTUSED(old_limit);
if (q == NULL) return stbi__err("outofmem", "Out of memory");
z->zout_start = q;
z->zout = q + cur;
z->zout_end = q + limit;
return 1;
}
static const int stbi__zlength_base[31] = {
3,4,5,6,7,8,9,10,11,13,
15,17,19,23,27,31,35,43,51,59,
67,83,99,115,131,163,195,227,258,0,0 };
static const int stbi__zlength_extra[31]=
{ 0,0,0,0,0,0,0,0,1,1,1,1,2,2,2,2,3,3,3,3,4,4,4,4,5,5,5,5,0,0,0 };
static const int stbi__zdist_base[32] = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,
257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577,0,0};
static const int stbi__zdist_extra[32] =
{ 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13};
static int stbi__parse_huffman_block(stbi__zbuf *a)
{
char *zout = a->zout;
for(;;) {
int z = stbi__zhuffman_decode(a, &a->z_length);
if (z < 256) {
if (z < 0) return stbi__err("bad huffman code","Corrupt PNG"); // error in huffman codes
if (zout >= a->zout_end) {
if (!stbi__zexpand(a, zout, 1)) return 0;
zout = a->zout;
}
*zout++ = (char) z;
} else {
stbi_uc *p;
int len,dist;
if (z == 256) {
a->zout = zout;
return 1;
}
z -= 257;
len = stbi__zlength_base[z];
if (stbi__zlength_extra[z]) len += stbi__zreceive(a, stbi__zlength_extra[z]);
z = stbi__zhuffman_decode(a, &a->z_distance);
if (z < 0) return stbi__err("bad huffman code","Corrupt PNG");
dist = stbi__zdist_base[z];
if (stbi__zdist_extra[z]) dist += stbi__zreceive(a, stbi__zdist_extra[z]);
if (zout - a->zout_start < dist) return stbi__err("bad dist","Corrupt PNG");
if (zout + len > a->zout_end) {
if (!stbi__zexpand(a, zout, len)) return 0;
zout = a->zout;
}
p = (stbi_uc *) (zout - dist);
if (dist == 1) { // run of one byte; common in images.
stbi_uc v = *p;
if (len) { do *zout++ = v; while (--len); }
} else {
if (len) { do *zout++ = *p++; while (--len); }
}
}
}
}
static int stbi__compute_huffman_codes(stbi__zbuf *a)
{
static const stbi_uc length_dezigzag[19] = { 16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15 };
stbi__zhuffman z_codelength;
stbi_uc lencodes[286+32+137];//padding for maximum single op
stbi_uc codelength_sizes[19];
int i,n;
int hlit = stbi__zreceive(a,5) + 257;
int hdist = stbi__zreceive(a,5) + 1;
int hclen = stbi__zreceive(a,4) + 4;
int ntot = hlit + hdist;
memset(codelength_sizes, 0, sizeof(codelength_sizes));
for (i=0; i < hclen; ++i) {
int s = stbi__zreceive(a,3);
codelength_sizes[length_dezigzag[i]] = (stbi_uc) s;
}
if (!stbi__zbuild_huffman(&z_codelength, codelength_sizes, 19)) return 0;
n = 0;
while (n < ntot) {
int c = stbi__zhuffman_decode(a, &z_codelength);
if (c < 0 || c >= 19) return stbi__err("bad codelengths", "Corrupt PNG");
if (c < 16)
lencodes[n++] = (stbi_uc) c;
else {
stbi_uc fill = 0;
if (c == 16) {
c = stbi__zreceive(a,2)+3;
if (n == 0) return stbi__err("bad codelengths", "Corrupt PNG");
fill = lencodes[n-1];
} else if (c == 17) {
c = stbi__zreceive(a,3)+3;
} else if (c == 18) {
c = stbi__zreceive(a,7)+11;
} else {
return stbi__err("bad codelengths", "Corrupt PNG");
}
if (ntot - n < c) return stbi__err("bad codelengths", "Corrupt PNG");
memset(lencodes+n, fill, c);
n += c;
}
}
if (n != ntot) return stbi__err("bad codelengths","Corrupt PNG");
if (!stbi__zbuild_huffman(&a->z_length, lencodes, hlit)) return 0;
if (!stbi__zbuild_huffman(&a->z_distance, lencodes+hlit, hdist)) return 0;
return 1;
}
static int stbi__parse_uncompressed_block(stbi__zbuf *a)
{
stbi_uc header[4];
int len,nlen,k;
if (a->num_bits & 7)
stbi__zreceive(a, a->num_bits & 7); // discard
// drain the bit-packed data into header
k = 0;
while (a->num_bits > 0) {
header[k++] = (stbi_uc) (a->code_buffer & 255); // suppress MSVC run-time check
a->code_buffer >>= 8;
a->num_bits -= 8;
}
if (a->num_bits < 0) return stbi__err("zlib corrupt","Corrupt PNG");
// now fill header the normal way
while (k < 4)
header[k++] = stbi__zget8(a);
len = header[1] * 256 + header[0];
nlen = header[3] * 256 + header[2];
if (nlen != (len ^ 0xffff)) return stbi__err("zlib corrupt","Corrupt PNG");
if (a->zbuffer + len > a->zbuffer_end) return stbi__err("read past buffer","Corrupt PNG");
if (a->zout + len > a->zout_end)
if (!stbi__zexpand(a, a->zout, len)) return 0;
memcpy(a->zout, a->zbuffer, len);
a->zbuffer += len;
a->zout += len;
return 1;
}
static int stbi__parse_zlib_header(stbi__zbuf *a)
{
int cmf = stbi__zget8(a);
int cm = cmf & 15;
/* int cinfo = cmf >> 4; */
int flg = stbi__zget8(a);
if (stbi__zeof(a)) return stbi__err("bad zlib header","Corrupt PNG"); // zlib spec
if ((cmf*256+flg) % 31 != 0) return stbi__err("bad zlib header","Corrupt PNG"); // zlib spec
if (flg & 32) return stbi__err("no preset dict","Corrupt PNG"); // preset dictionary not allowed in png
if (cm != 8) return stbi__err("bad compression","Corrupt PNG"); // DEFLATE required for png
// window = 1 << (8 + cinfo)... but who cares, we fully buffer output
return 1;
}
static const stbi_uc stbi__zdefault_length[288] =
{
8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8, 8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,
8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8, 8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,
8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8, 8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,
8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8, 8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,
8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8, 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,
9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9, 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,
9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9, 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,
9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9, 9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,9,
7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7, 7,7,7,7,7,7,7,7,8,8,8,8,8,8,8,8
};
static const stbi_uc stbi__zdefault_distance[32] =
{
5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5
};
/*
Init algorithm:
{
int i; // use <= to match clearly with spec
for (i=0; i <= 143; ++i) stbi__zdefault_length[i] = 8;
for ( ; i <= 255; ++i) stbi__zdefault_length[i] = 9;
for ( ; i <= 279; ++i) stbi__zdefault_length[i] = 7;
for ( ; i <= 287; ++i) stbi__zdefault_length[i] = 8;
for (i=0; i <= 31; ++i) stbi__zdefault_distance[i] = 5;
}
*/
static int stbi__parse_zlib(stbi__zbuf *a, int parse_header)
{
int final, type;
if (parse_header)
if (!stbi__parse_zlib_header(a)) return 0;
a->num_bits = 0;
a->code_buffer = 0;
do {
final = stbi__zreceive(a,1);
type = stbi__zreceive(a,2);
if (type == 0) {
if (!stbi__parse_uncompressed_block(a)) return 0;
} else if (type == 3) {
return 0;
} else {
if (type == 1) {
// use fixed code lengths
if (!stbi__zbuild_huffman(&a->z_length , stbi__zdefault_length , 288)) return 0;
if (!stbi__zbuild_huffman(&a->z_distance, stbi__zdefault_distance, 32)) return 0;
} else {
if (!stbi__compute_huffman_codes(a)) return 0;
}
if (!stbi__parse_huffman_block(a)) return 0;
}
} while (!final);
return 1;
}
static int stbi__do_zlib(stbi__zbuf *a, char *obuf, int olen, int exp, int parse_header)
{
a->zout_start = obuf;
a->zout = obuf;
a->zout_end = obuf + olen;
a->z_expandable = exp;
return stbi__parse_zlib(a, parse_header);
}
STBIDEF char *stbi_zlib_decode_malloc_guesssize(const char *buffer, int len, int initial_size, int *outlen)
{
stbi__zbuf a;
char *p = (char *) stbi__malloc(initial_size);
if (p == NULL) return NULL;
a.zbuffer = (stbi_uc *) buffer;
a.zbuffer_end = (stbi_uc *) buffer + len;
if (stbi__do_zlib(&a, p, initial_size, 1, 1)) {
if (outlen) *outlen = (int) (a.zout - a.zout_start);
return a.zout_start;
} else {
STBI_FREE(a.zout_start);
return NULL;
}
}
STBIDEF char *stbi_zlib_decode_malloc(char const *buffer, int len, int *outlen)
{
return stbi_zlib_decode_malloc_guesssize(buffer, len, 16384, outlen);
}
STBIDEF char *stbi_zlib_decode_malloc_guesssize_headerflag(const char *buffer, int len, int initial_size, int *outlen, int parse_header)
{
stbi__zbuf a;
char *p = (char *) stbi__malloc(initial_size);
if (p == NULL) return NULL;
a.zbuffer = (stbi_uc *) buffer;
a.zbuffer_end = (stbi_uc *) buffer + len;
if (stbi__do_zlib(&a, p, initial_size, 1, parse_header)) {
if (outlen) *outlen = (int) (a.zout - a.zout_start);
return a.zout_start;
} else {
STBI_FREE(a.zout_start);
return NULL;
}
}
STBIDEF int stbi_zlib_decode_buffer(char *obuffer, int olen, char const *ibuffer, int ilen)
{
stbi__zbuf a;
a.zbuffer = (stbi_uc *) ibuffer;
a.zbuffer_end = (stbi_uc *) ibuffer + ilen;
if (stbi__do_zlib(&a, obuffer, olen, 0, 1))
return (int) (a.zout - a.zout_start);
else
return -1;
}
STBIDEF char *stbi_zlib_decode_noheader_malloc(char const *buffer, int len, int *outlen)
{
stbi__zbuf a;
char *p = (char *) stbi__malloc(16384);
if (p == NULL) return NULL;
a.zbuffer = (stbi_uc *) buffer;
a.zbuffer_end = (stbi_uc *) buffer+len;
if (stbi__do_zlib(&a, p, 16384, 1, 0)) {
if (outlen) *outlen = (int) (a.zout - a.zout_start);
return a.zout_start;
} else {
STBI_FREE(a.zout_start);
return NULL;
}
}
STBIDEF int stbi_zlib_decode_noheader_buffer(char *obuffer, int olen, const char *ibuffer, int ilen)
{
stbi__zbuf a;
a.zbuffer = (stbi_uc *) ibuffer;
a.zbuffer_end = (stbi_uc *) ibuffer + ilen;
if (stbi__do_zlib(&a, obuffer, olen, 0, 0))
return (int) (a.zout - a.zout_start);
else
return -1;
}
#endif
// public domain "baseline" PNG decoder v0.10 Sean Barrett 2006-11-18
// simple implementation
// - only 8-bit samples
// - no CRC checking
// - allocates lots of intermediate memory
// - avoids problem of streaming data between subsystems
// - avoids explicit window management
// performance
// - uses stb_zlib, a PD zlib implementation with fast huffman decoding
#ifndef STBI_NO_PNG
typedef struct
{
stbi__uint32 length;
stbi__uint32 type;
} stbi__pngchunk;
static stbi__pngchunk stbi__get_chunk_header(stbi__context *s)
{
stbi__pngchunk c;
c.length = stbi__get32be(s);
c.type = stbi__get32be(s);
return c;
}
static int stbi__check_png_header(stbi__context *s)
{
static const stbi_uc png_sig[8] = { 137,80,78,71,13,10,26,10 };
int i;
for (i=0; i < 8; ++i)
if (stbi__get8(s) != png_sig[i]) return stbi__err("bad png sig","Not a PNG");
return 1;
}
typedef struct
{
stbi__context *s;
stbi_uc *idata, *expanded, *out;
int depth;
} stbi__png;
enum {
STBI__F_none=0,
STBI__F_sub=1,
STBI__F_up=2,
STBI__F_avg=3,
STBI__F_paeth=4,
// synthetic filters used for first scanline to avoid needing a dummy row of 0s
STBI__F_avg_first,
STBI__F_paeth_first
};
static stbi_uc first_row_filter[5] =
{
STBI__F_none,
STBI__F_sub,
STBI__F_none,
STBI__F_avg_first,
STBI__F_paeth_first
};
static int stbi__paeth(int a, int b, int c)
{
int p = a + b - c;
int pa = abs(p-a);
int pb = abs(p-b);
int pc = abs(p-c);
if (pa <= pb && pa <= pc) return a;
if (pb <= pc) return b;
return c;
}
static const stbi_uc stbi__depth_scale_table[9] = { 0, 0xff, 0x55, 0, 0x11, 0,0,0, 0x01 };
// create the png data from post-deflated data
static int stbi__create_png_image_raw(stbi__png *a, stbi_uc *raw, stbi__uint32 raw_len, int out_n, stbi__uint32 x, stbi__uint32 y, int depth, int color)
{
int bytes = (depth == 16? 2 : 1);
stbi__context *s = a->s;
stbi__uint32 i,j,stride = x*out_n*bytes;
stbi__uint32 img_len, img_width_bytes;
int k;
int img_n = s->img_n; // copy it into a local for later
int output_bytes = out_n*bytes;
int filter_bytes = img_n*bytes;
int width = x;
STBI_ASSERT(out_n == s->img_n || out_n == s->img_n+1);
a->out = (stbi_uc *) stbi__malloc_mad3(x, y, output_bytes, 0); // extra bytes to write off the end into
if (!a->out) return stbi__err("outofmem", "Out of memory");
if (!stbi__mad3sizes_valid(img_n, x, depth, 7)) return stbi__err("too large", "Corrupt PNG");
img_width_bytes = (((img_n * x * depth) + 7) >> 3);
img_len = (img_width_bytes + 1) * y;
// we used to check for exact match between raw_len and img_len on non-interlaced PNGs,
// but issue #276 reported a PNG in the wild that had extra data at the end (all zeros),
// so just check for raw_len < img_len always.
if (raw_len < img_len) return stbi__err("not enough pixels","Corrupt PNG");
for (j=0; j < y; ++j) {
stbi_uc *cur = a->out + stride*j;
stbi_uc *prior;
int filter = *raw++;
if (filter > 4)
return stbi__err("invalid filter","Corrupt PNG");
if (depth < 8) {
if (img_width_bytes > x) return stbi__err("invalid width","Corrupt PNG");
cur += x*out_n - img_width_bytes; // store output to the rightmost img_len bytes, so we can decode in place
filter_bytes = 1;
width = img_width_bytes;
}
prior = cur - stride; // bugfix: need to compute this after 'cur +=' computation above
// if first row, use special filter that doesn't sample previous row
if (j == 0) filter = first_row_filter[filter];
// handle first byte explicitly
for (k=0; k < filter_bytes; ++k) {
switch (filter) {
case STBI__F_none : cur[k] = raw[k]; break;
case STBI__F_sub : cur[k] = raw[k]; break;
case STBI__F_up : cur[k] = STBI__BYTECAST(raw[k] + prior[k]); break;
case STBI__F_avg : cur[k] = STBI__BYTECAST(raw[k] + (prior[k]>>1)); break;
case STBI__F_paeth : cur[k] = STBI__BYTECAST(raw[k] + stbi__paeth(0,prior[k],0)); break;
case STBI__F_avg_first : cur[k] = raw[k]; break;
case STBI__F_paeth_first: cur[k] = raw[k]; break;
}
}
if (depth == 8) {
if (img_n != out_n)
cur[img_n] = 255; // first pixel
raw += img_n;
cur += out_n;
prior += out_n;
} else if (depth == 16) {
if (img_n != out_n) {
cur[filter_bytes] = 255; // first pixel top byte
cur[filter_bytes+1] = 255; // first pixel bottom byte
}
raw += filter_bytes;
cur += output_bytes;
prior += output_bytes;
} else {
raw += 1;
cur += 1;
prior += 1;
}
// this is a little gross, so that we don't switch per-pixel or per-component
if (depth < 8 || img_n == out_n) {
int nk = (width - 1)*filter_bytes;
#define STBI__CASE(f) \
case f: \
for (k=0; k < nk; ++k)
switch (filter) {
// "none" filter turns into a memcpy here; make that explicit.
case STBI__F_none: memcpy(cur, raw, nk); break;
STBI__CASE(STBI__F_sub) { cur[k] = STBI__BYTECAST(raw[k] + cur[k-filter_bytes]); } break;
STBI__CASE(STBI__F_up) { cur[k] = STBI__BYTECAST(raw[k] + prior[k]); } break;
STBI__CASE(STBI__F_avg) { cur[k] = STBI__BYTECAST(raw[k] + ((prior[k] + cur[k-filter_bytes])>>1)); } break;
STBI__CASE(STBI__F_paeth) { cur[k] = STBI__BYTECAST(raw[k] + stbi__paeth(cur[k-filter_bytes],prior[k],prior[k-filter_bytes])); } break;
STBI__CASE(STBI__F_avg_first) { cur[k] = STBI__BYTECAST(raw[k] + (cur[k-filter_bytes] >> 1)); } break;
STBI__CASE(STBI__F_paeth_first) { cur[k] = STBI__BYTECAST(raw[k] + stbi__paeth(cur[k-filter_bytes],0,0)); } break;
}
#undef STBI__CASE
raw += nk;
} else {
STBI_ASSERT(img_n+1 == out_n);
#define STBI__CASE(f) \
case f: \
for (i=x-1; i >= 1; --i, cur[filter_bytes]=255,raw+=filter_bytes,cur+=output_bytes,prior+=output_bytes) \
for (k=0; k < filter_bytes; ++k)
switch (filter) {
STBI__CASE(STBI__F_none) { cur[k] = raw[k]; } break;
STBI__CASE(STBI__F_sub) { cur[k] = STBI__BYTECAST(raw[k] + cur[k- output_bytes]); } break;
STBI__CASE(STBI__F_up) { cur[k] = STBI__BYTECAST(raw[k] + prior[k]); } break;
STBI__CASE(STBI__F_avg) { cur[k] = STBI__BYTECAST(raw[k] + ((prior[k] + cur[k- output_bytes])>>1)); } break;
STBI__CASE(STBI__F_paeth) { cur[k] = STBI__BYTECAST(raw[k] + stbi__paeth(cur[k- output_bytes],prior[k],prior[k- output_bytes])); } break;
STBI__CASE(STBI__F_avg_first) { cur[k] = STBI__BYTECAST(raw[k] + (cur[k- output_bytes] >> 1)); } break;
STBI__CASE(STBI__F_paeth_first) { cur[k] = STBI__BYTECAST(raw[k] + stbi__paeth(cur[k- output_bytes],0,0)); } break;
}
#undef STBI__CASE
// the loop above sets the high byte of the pixels' alpha, but for
// 16 bit png files we also need the low byte set. we'll do that here.
if (depth == 16) {
cur = a->out + stride*j; // start at the beginning of the row again
for (i=0; i < x; ++i,cur+=output_bytes) {
cur[filter_bytes+1] = 255;
}
}
}
}
// we make a separate pass to expand bits to pixels; for performance,
// this could run two scanlines behind the above code, so it won't
// intefere with filtering but will still be in the cache.
if (depth < 8) {
for (j=0; j < y; ++j) {
stbi_uc *cur = a->out + stride*j;
stbi_uc *in = a->out + stride*j + x*out_n - img_width_bytes;
// unpack 1/2/4-bit into a 8-bit buffer. allows us to keep the common 8-bit path optimal at minimal cost for 1/2/4-bit
// png guarante byte alignment, if width is not multiple of 8/4/2 we'll decode dummy trailing data that will be skipped in the later loop
stbi_uc scale = (color == 0) ? stbi__depth_scale_table[depth] : 1; // scale grayscale values to 0..255 range
// note that the final byte might overshoot and write more data than desired.
// we can allocate enough data that this never writes out of memory, but it
// could also overwrite the next scanline. can it overwrite non-empty data
// on the next scanline? yes, consider 1-pixel-wide scanlines with 1-bit-per-pixel.
// so we need to explicitly clamp the final ones
if (depth == 4) {
for (k=x*img_n; k >= 2; k-=2, ++in) {
*cur++ = scale * ((*in >> 4) );
*cur++ = scale * ((*in ) & 0x0f);
}
if (k > 0) *cur++ = scale * ((*in >> 4) );
} else if (depth == 2) {
for (k=x*img_n; k >= 4; k-=4, ++in) {
*cur++ = scale * ((*in >> 6) );
*cur++ = scale * ((*in >> 4) & 0x03);
*cur++ = scale * ((*in >> 2) & 0x03);
*cur++ = scale * ((*in ) & 0x03);
}
if (k > 0) *cur++ = scale * ((*in >> 6) );
if (k > 1) *cur++ = scale * ((*in >> 4) & 0x03);
if (k > 2) *cur++ = scale * ((*in >> 2) & 0x03);
} else if (depth == 1) {
for (k=x*img_n; k >= 8; k-=8, ++in) {
*cur++ = scale * ((*in >> 7) );
*cur++ = scale * ((*in >> 6) & 0x01);
*cur++ = scale * ((*in >> 5) & 0x01);
*cur++ = scale * ((*in >> 4) & 0x01);
*cur++ = scale * ((*in >> 3) & 0x01);
*cur++ = scale * ((*in >> 2) & 0x01);
*cur++ = scale * ((*in >> 1) & 0x01);
*cur++ = scale * ((*in ) & 0x01);
}
if (k > 0) *cur++ = scale * ((*in >> 7) );
if (k > 1) *cur++ = scale * ((*in >> 6) & 0x01);
if (k > 2) *cur++ = scale * ((*in >> 5) & 0x01);
if (k > 3) *cur++ = scale * ((*in >> 4) & 0x01);
if (k > 4) *cur++ = scale * ((*in >> 3) & 0x01);
if (k > 5) *cur++ = scale * ((*in >> 2) & 0x01);
if (k > 6) *cur++ = scale * ((*in >> 1) & 0x01);
}
if (img_n != out_n) {
int q;
// insert alpha = 255
cur = a->out + stride*j;
if (img_n == 1) {
for (q=x-1; q >= 0; --q) {
cur[q*2+1] = 255;
cur[q*2+0] = cur[q];
}
} else {
STBI_ASSERT(img_n == 3);
for (q=x-1; q >= 0; --q) {
cur[q*4+3] = 255;
cur[q*4+2] = cur[q*3+2];
cur[q*4+1] = cur[q*3+1];
cur[q*4+0] = cur[q*3+0];
}
}
}
}
} else if (depth == 16) {
// force the image data from big-endian to platform-native.
// this is done in a separate pass due to the decoding relying
// on the data being untouched, but could probably be done
// per-line during decode if care is taken.
stbi_uc *cur = a->out;
stbi__uint16 *cur16 = (stbi__uint16*)cur;
for(i=0; i < x*y*out_n; ++i,cur16++,cur+=2) {
*cur16 = (cur[0] << 8) | cur[1];
}
}
return 1;
}
static int stbi__create_png_image(stbi__png *a, stbi_uc *image_data, stbi__uint32 image_data_len, int out_n, int depth, int color, int interlaced)
{
int bytes = (depth == 16 ? 2 : 1);
int out_bytes = out_n * bytes;
stbi_uc *final;
int p;
if (!interlaced)
return stbi__create_png_image_raw(a, image_data, image_data_len, out_n, a->s->img_x, a->s->img_y, depth, color);
// de-interlacing
final = (stbi_uc *) stbi__malloc_mad3(a->s->img_x, a->s->img_y, out_bytes, 0);
for (p=0; p < 7; ++p) {
int xorig[] = { 0,4,0,2,0,1,0 };
int yorig[] = { 0,0,4,0,2,0,1 };
int xspc[] = { 8,8,4,4,2,2,1 };
int yspc[] = { 8,8,8,4,4,2,2 };
int i,j,x,y;
// pass1_x[4] = 0, pass1_x[5] = 1, pass1_x[12] = 1
x = (a->s->img_x - xorig[p] + xspc[p]-1) / xspc[p];
y = (a->s->img_y - yorig[p] + yspc[p]-1) / yspc[p];
if (x && y) {
stbi__uint32 img_len = ((((a->s->img_n * x * depth) + 7) >> 3) + 1) * y;
if (!stbi__create_png_image_raw(a, image_data, image_data_len, out_n, x, y, depth, color)) {
STBI_FREE(final);
return 0;
}
for (j=0; j < y; ++j) {
for (i=0; i < x; ++i) {
int out_y = j*yspc[p]+yorig[p];
int out_x = i*xspc[p]+xorig[p];
memcpy(final + out_y*a->s->img_x*out_bytes + out_x*out_bytes,
a->out + (j*x+i)*out_bytes, out_bytes);
}
}
STBI_FREE(a->out);
image_data += img_len;
image_data_len -= img_len;
}
}
a->out = final;
return 1;
}
static int stbi__compute_transparency(stbi__png *z, stbi_uc tc[3], int out_n)
{
stbi__context *s = z->s;
stbi__uint32 i, pixel_count = s->img_x * s->img_y;
stbi_uc *p = z->out;
// compute color-based transparency, assuming we've
// already got 255 as the alpha value in the output
STBI_ASSERT(out_n == 2 || out_n == 4);
if (out_n == 2) {
for (i=0; i < pixel_count; ++i) {
p[1] = (p[0] == tc[0] ? 0 : 255);
p += 2;
}
} else {
for (i=0; i < pixel_count; ++i) {
if (p[0] == tc[0] && p[1] == tc[1] && p[2] == tc[2])
p[3] = 0;
p += 4;
}
}
return 1;
}
static int stbi__compute_transparency16(stbi__png *z, stbi__uint16 tc[3], int out_n)
{
stbi__context *s = z->s;
stbi__uint32 i, pixel_count = s->img_x * s->img_y;
stbi__uint16 *p = (stbi__uint16*) z->out;
// compute color-based transparency, assuming we've
// already got 65535 as the alpha value in the output
STBI_ASSERT(out_n == 2 || out_n == 4);
if (out_n == 2) {
for (i = 0; i < pixel_count; ++i) {
p[1] = (p[0] == tc[0] ? 0 : 65535);
p += 2;
}
} else {
for (i = 0; i < pixel_count; ++i) {
if (p[0] == tc[0] && p[1] == tc[1] && p[2] == tc[2])
p[3] = 0;
p += 4;
}
}
return 1;
}
static int stbi__expand_png_palette(stbi__png *a, stbi_uc *palette, int len, int pal_img_n)
{
stbi__uint32 i, pixel_count = a->s->img_x * a->s->img_y;
stbi_uc *p, *temp_out, *orig = a->out;
p = (stbi_uc *) stbi__malloc_mad2(pixel_count, pal_img_n, 0);
if (p == NULL) return stbi__err("outofmem", "Out of memory");
// between here and free(out) below, exitting would leak
temp_out = p;
if (pal_img_n == 3) {
for (i=0; i < pixel_count; ++i) {
int n = orig[i]*4;
p[0] = palette[n ];
p[1] = palette[n+1];
p[2] = palette[n+2];
p += 3;
}
} else {
for (i=0; i < pixel_count; ++i) {
int n = orig[i]*4;
p[0] = palette[n ];
p[1] = palette[n+1];
p[2] = palette[n+2];
p[3] = palette[n+3];
p += 4;
}
}
STBI_FREE(a->out);
a->out = temp_out;
STBI_NOTUSED(len);
return 1;
}
static int stbi__unpremultiply_on_load = 0;
static int stbi__de_iphone_flag = 0;
STBIDEF void stbi_set_unpremultiply_on_load(int flag_true_if_should_unpremultiply)
{
stbi__unpremultiply_on_load = flag_true_if_should_unpremultiply;
}
STBIDEF void stbi_convert_iphone_png_to_rgb(int flag_true_if_should_convert)
{
stbi__de_iphone_flag = flag_true_if_should_convert;
}
static void stbi__de_iphone(stbi__png *z)
{
stbi__context *s = z->s;
stbi__uint32 i, pixel_count = s->img_x * s->img_y;
stbi_uc *p = z->out;
if (s->img_out_n == 3) { // convert bgr to rgb
for (i=0; i < pixel_count; ++i) {
stbi_uc t = p[0];
p[0] = p[2];
p[2] = t;
p += 3;
}
} else {
STBI_ASSERT(s->img_out_n == 4);
if (stbi__unpremultiply_on_load) {
// convert bgr to rgb and unpremultiply
for (i=0; i < pixel_count; ++i) {
stbi_uc a = p[3];
stbi_uc t = p[0];
if (a) {
stbi_uc half = a / 2;
p[0] = (p[2] * 255 + half) / a;
p[1] = (p[1] * 255 + half) / a;
p[2] = ( t * 255 + half) / a;
} else {
p[0] = p[2];
p[2] = t;
}
p += 4;
}
} else {
// convert bgr to rgb
for (i=0; i < pixel_count; ++i) {
stbi_uc t = p[0];
p[0] = p[2];
p[2] = t;
p += 4;
}
}
}
}
#define STBI__PNG_TYPE(a,b,c,d) (((unsigned) (a) << 24) + ((unsigned) (b) << 16) + ((unsigned) (c) << 8) + (unsigned) (d))
static int stbi__parse_png_file(stbi__png *z, int scan, int req_comp)
{
stbi_uc palette[1024], pal_img_n=0;
stbi_uc has_trans=0, tc[3]={0};
stbi__uint16 tc16[3];
stbi__uint32 ioff=0, idata_limit=0, i, pal_len=0;
int first=1,k,interlace=0, color=0, is_iphone=0;
stbi__context *s = z->s;
z->expanded = NULL;
z->idata = NULL;
z->out = NULL;
if (!stbi__check_png_header(s)) return 0;
if (scan == STBI__SCAN_type) return 1;
for (;;) {
stbi__pngchunk c = stbi__get_chunk_header(s);
switch (c.type) {
case STBI__PNG_TYPE('C','g','B','I'):
is_iphone = 1;
stbi__skip(s, c.length);
break;
case STBI__PNG_TYPE('I','H','D','R'): {
int comp,filter;
if (!first) return stbi__err("multiple IHDR","Corrupt PNG");
first = 0;
if (c.length != 13) return stbi__err("bad IHDR len","Corrupt PNG");
s->img_x = stbi__get32be(s);
s->img_y = stbi__get32be(s);
if (s->img_y > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
if (s->img_x > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
z->depth = stbi__get8(s); if (z->depth != 1 && z->depth != 2 && z->depth != 4 && z->depth != 8 && z->depth != 16) return stbi__err("1/2/4/8/16-bit only","PNG not supported: 1/2/4/8/16-bit only");
color = stbi__get8(s); if (color > 6) return stbi__err("bad ctype","Corrupt PNG");
if (color == 3 && z->depth == 16) return stbi__err("bad ctype","Corrupt PNG");
if (color == 3) pal_img_n = 3; else if (color & 1) return stbi__err("bad ctype","Corrupt PNG");
comp = stbi__get8(s); if (comp) return stbi__err("bad comp method","Corrupt PNG");
filter= stbi__get8(s); if (filter) return stbi__err("bad filter method","Corrupt PNG");
interlace = stbi__get8(s); if (interlace>1) return stbi__err("bad interlace method","Corrupt PNG");
if (!s->img_x || !s->img_y) return stbi__err("0-pixel image","Corrupt PNG");
if (!pal_img_n) {
s->img_n = (color & 2 ? 3 : 1) + (color & 4 ? 1 : 0);
if ((1 << 30) / s->img_x / s->img_n < s->img_y) return stbi__err("too large", "Image too large to decode");
if (scan == STBI__SCAN_header) return 1;
} else {
// if paletted, then pal_n is our final components, and
// img_n is # components to decompress/filter.
s->img_n = 1;
if ((1 << 30) / s->img_x / 4 < s->img_y) return stbi__err("too large","Corrupt PNG");
// if SCAN_header, have to scan to see if we have a tRNS
}
break;
}
case STBI__PNG_TYPE('P','L','T','E'): {
if (first) return stbi__err("first not IHDR", "Corrupt PNG");
if (c.length > 256*3) return stbi__err("invalid PLTE","Corrupt PNG");
pal_len = c.length / 3;
if (pal_len * 3 != c.length) return stbi__err("invalid PLTE","Corrupt PNG");
for (i=0; i < pal_len; ++i) {
palette[i*4+0] = stbi__get8(s);
palette[i*4+1] = stbi__get8(s);
palette[i*4+2] = stbi__get8(s);
palette[i*4+3] = 255;
}
break;
}
case STBI__PNG_TYPE('t','R','N','S'): {
if (first) return stbi__err("first not IHDR", "Corrupt PNG");
if (z->idata) return stbi__err("tRNS after IDAT","Corrupt PNG");
if (pal_img_n) {
if (scan == STBI__SCAN_header) { s->img_n = 4; return 1; }
if (pal_len == 0) return stbi__err("tRNS before PLTE","Corrupt PNG");
if (c.length > pal_len) return stbi__err("bad tRNS len","Corrupt PNG");
pal_img_n = 4;
for (i=0; i < c.length; ++i)
palette[i*4+3] = stbi__get8(s);
} else {
if (!(s->img_n & 1)) return stbi__err("tRNS with alpha","Corrupt PNG");
if (c.length != (stbi__uint32) s->img_n*2) return stbi__err("bad tRNS len","Corrupt PNG");
has_trans = 1;
if (z->depth == 16) {
for (k = 0; k < s->img_n; ++k) tc16[k] = (stbi__uint16)stbi__get16be(s); // copy the values as-is
} else {
for (k = 0; k < s->img_n; ++k) tc[k] = (stbi_uc)(stbi__get16be(s) & 255) * stbi__depth_scale_table[z->depth]; // non 8-bit images will be larger
}
}
break;
}
case STBI__PNG_TYPE('I','D','A','T'): {
if (first) return stbi__err("first not IHDR", "Corrupt PNG");
if (pal_img_n && !pal_len) return stbi__err("no PLTE","Corrupt PNG");
if (scan == STBI__SCAN_header) { s->img_n = pal_img_n; return 1; }
if ((int)(ioff + c.length) < (int)ioff) return 0;
if (ioff + c.length > idata_limit) {
stbi__uint32 idata_limit_old = idata_limit;
stbi_uc *p;
if (idata_limit == 0) idata_limit = c.length > 4096 ? c.length : 4096;
while (ioff + c.length > idata_limit)
idata_limit *= 2;
STBI_NOTUSED(idata_limit_old);
p = (stbi_uc *) STBI_REALLOC_SIZED(z->idata, idata_limit_old, idata_limit); if (p == NULL) return stbi__err("outofmem", "Out of memory");
z->idata = p;
}
if (!stbi__getn(s, z->idata+ioff,c.length)) return stbi__err("outofdata","Corrupt PNG");
ioff += c.length;
break;
}
case STBI__PNG_TYPE('I','E','N','D'): {
stbi__uint32 raw_len, bpl;
if (first) return stbi__err("first not IHDR", "Corrupt PNG");
if (scan != STBI__SCAN_load) return 1;
if (z->idata == NULL) return stbi__err("no IDAT","Corrupt PNG");
// initial guess for decoded data size to avoid unnecessary reallocs
bpl = (s->img_x * z->depth + 7) / 8; // bytes per line, per component
raw_len = bpl * s->img_y * s->img_n /* pixels */ + s->img_y /* filter mode per row */;
z->expanded = (stbi_uc *) stbi_zlib_decode_malloc_guesssize_headerflag((char *) z->idata, ioff, raw_len, (int *) &raw_len, !is_iphone);
if (z->expanded == NULL) return 0; // zlib should set error
STBI_FREE(z->idata); z->idata = NULL;
if ((req_comp == s->img_n+1 && req_comp != 3 && !pal_img_n) || has_trans)
s->img_out_n = s->img_n+1;
else
s->img_out_n = s->img_n;
if (!stbi__create_png_image(z, z->expanded, raw_len, s->img_out_n, z->depth, color, interlace)) return 0;
if (has_trans) {
if (z->depth == 16) {
if (!stbi__compute_transparency16(z, tc16, s->img_out_n)) return 0;
} else {
if (!stbi__compute_transparency(z, tc, s->img_out_n)) return 0;
}
}
if (is_iphone && stbi__de_iphone_flag && s->img_out_n > 2)
stbi__de_iphone(z);
if (pal_img_n) {
// pal_img_n == 3 or 4
s->img_n = pal_img_n; // record the actual colors we had
s->img_out_n = pal_img_n;
if (req_comp >= 3) s->img_out_n = req_comp;
if (!stbi__expand_png_palette(z, palette, pal_len, s->img_out_n))
return 0;
} else if (has_trans) {
// non-paletted image with tRNS -> source image has (constant) alpha
++s->img_n;
}
STBI_FREE(z->expanded); z->expanded = NULL;
// end of PNG chunk, read and skip CRC
stbi__get32be(s);
return 1;
}
default:
// if critical, fail
if (first) return stbi__err("first not IHDR", "Corrupt PNG");
if ((c.type & (1 << 29)) == 0) {
#ifndef STBI_NO_FAILURE_STRINGS
// not threadsafe
static char invalid_chunk[] = "XXXX PNG chunk not known";
invalid_chunk[0] = STBI__BYTECAST(c.type >> 24);
invalid_chunk[1] = STBI__BYTECAST(c.type >> 16);
invalid_chunk[2] = STBI__BYTECAST(c.type >> 8);
invalid_chunk[3] = STBI__BYTECAST(c.type >> 0);
#endif
return stbi__err(invalid_chunk, "PNG not supported: unknown PNG chunk type");
}
stbi__skip(s, c.length);
break;
}
// end of PNG chunk, read and skip CRC
stbi__get32be(s);
}
}
static void *stbi__do_png(stbi__png *p, int *x, int *y, int *n, int req_comp, stbi__result_info *ri)
{
void *result=NULL;
if (req_comp < 0 || req_comp > 4) return stbi__errpuc("bad req_comp", "Internal error");
if (stbi__parse_png_file(p, STBI__SCAN_load, req_comp)) {
if (p->depth <= 8)
ri->bits_per_channel = 8;
else if (p->depth == 16)
ri->bits_per_channel = 16;
else
return stbi__errpuc("bad bits_per_channel", "PNG not supported: unsupported color depth");
result = p->out;
p->out = NULL;
if (req_comp && req_comp != p->s->img_out_n) {
if (ri->bits_per_channel == 8)
result = stbi__convert_format((unsigned char *) result, p->s->img_out_n, req_comp, p->s->img_x, p->s->img_y);
else
result = stbi__convert_format16((stbi__uint16 *) result, p->s->img_out_n, req_comp, p->s->img_x, p->s->img_y);
p->s->img_out_n = req_comp;
if (result == NULL) return result;
}
*x = p->s->img_x;
*y = p->s->img_y;
if (n) *n = p->s->img_n;
}
STBI_FREE(p->out); p->out = NULL;
STBI_FREE(p->expanded); p->expanded = NULL;
STBI_FREE(p->idata); p->idata = NULL;
return result;
}
static void *stbi__png_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
stbi__png p;
p.s = s;
return stbi__do_png(&p, x,y,comp,req_comp, ri);
}
static int stbi__png_test(stbi__context *s)
{
int r;
r = stbi__check_png_header(s);
stbi__rewind(s);
return r;
}
static int stbi__png_info_raw(stbi__png *p, int *x, int *y, int *comp)
{
if (!stbi__parse_png_file(p, STBI__SCAN_header, 0)) {
stbi__rewind( p->s );
return 0;
}
if (x) *x = p->s->img_x;
if (y) *y = p->s->img_y;
if (comp) *comp = p->s->img_n;
return 1;
}
static int stbi__png_info(stbi__context *s, int *x, int *y, int *comp)
{
stbi__png p;
p.s = s;
return stbi__png_info_raw(&p, x, y, comp);
}
static int stbi__png_is16(stbi__context *s)
{
stbi__png p;
p.s = s;
if (!stbi__png_info_raw(&p, NULL, NULL, NULL))
return 0;
if (p.depth != 16) {
stbi__rewind(p.s);
return 0;
}
return 1;
}
#endif
// Microsoft/Windows BMP image
#ifndef STBI_NO_BMP
static int stbi__bmp_test_raw(stbi__context *s)
{
int r;
int sz;
if (stbi__get8(s) != 'B') return 0;
if (stbi__get8(s) != 'M') return 0;
stbi__get32le(s); // discard filesize
stbi__get16le(s); // discard reserved
stbi__get16le(s); // discard reserved
stbi__get32le(s); // discard data offset
sz = stbi__get32le(s);
r = (sz == 12 || sz == 40 || sz == 56 || sz == 108 || sz == 124);
return r;
}
static int stbi__bmp_test(stbi__context *s)
{
int r = stbi__bmp_test_raw(s);
stbi__rewind(s);
return r;
}
// returns 0..31 for the highest set bit
static int stbi__high_bit(unsigned int z)
{
int n=0;
if (z == 0) return -1;
if (z >= 0x10000) { n += 16; z >>= 16; }
if (z >= 0x00100) { n += 8; z >>= 8; }
if (z >= 0x00010) { n += 4; z >>= 4; }
if (z >= 0x00004) { n += 2; z >>= 2; }
if (z >= 0x00002) { n += 1;/* >>= 1;*/ }
return n;
}
static int stbi__bitcount(unsigned int a)
{
a = (a & 0x55555555) + ((a >> 1) & 0x55555555); // max 2
a = (a & 0x33333333) + ((a >> 2) & 0x33333333); // max 4
a = (a + (a >> 4)) & 0x0f0f0f0f; // max 8 per 4, now 8 bits
a = (a + (a >> 8)); // max 16 per 8 bits
a = (a + (a >> 16)); // max 32 per 8 bits
return a & 0xff;
}
// extract an arbitrarily-aligned N-bit value (N=bits)
// from v, and then make it 8-bits long and fractionally
// extend it to full full range.
static int stbi__shiftsigned(unsigned int v, int shift, int bits)
{
static unsigned int mul_table[9] = {
0,
0xff/*0b11111111*/, 0x55/*0b01010101*/, 0x49/*0b01001001*/, 0x11/*0b00010001*/,
0x21/*0b00100001*/, 0x41/*0b01000001*/, 0x81/*0b10000001*/, 0x01/*0b00000001*/,
};
static unsigned int shift_table[9] = {
0, 0,0,1,0,2,4,6,0,
};
if (shift < 0)
v <<= -shift;
else
v >>= shift;
STBI_ASSERT(v < 256);
v >>= (8-bits);
STBI_ASSERT(bits >= 0 && bits <= 8);
return (int) ((unsigned) v * mul_table[bits]) >> shift_table[bits];
}
typedef struct
{
int bpp, offset, hsz;
unsigned int mr,mg,mb,ma, all_a;
int extra_read;
} stbi__bmp_data;
static void *stbi__bmp_parse_header(stbi__context *s, stbi__bmp_data *info)
{
int hsz;
if (stbi__get8(s) != 'B' || stbi__get8(s) != 'M') return stbi__errpuc("not BMP", "Corrupt BMP");
stbi__get32le(s); // discard filesize
stbi__get16le(s); // discard reserved
stbi__get16le(s); // discard reserved
info->offset = stbi__get32le(s);
info->hsz = hsz = stbi__get32le(s);
info->mr = info->mg = info->mb = info->ma = 0;
info->extra_read = 14;
if (info->offset < 0) return stbi__errpuc("bad BMP", "bad BMP");
if (hsz != 12 && hsz != 40 && hsz != 56 && hsz != 108 && hsz != 124) return stbi__errpuc("unknown BMP", "BMP type not supported: unknown");
if (hsz == 12) {
s->img_x = stbi__get16le(s);
s->img_y = stbi__get16le(s);
} else {
s->img_x = stbi__get32le(s);
s->img_y = stbi__get32le(s);
}
if (stbi__get16le(s) != 1) return stbi__errpuc("bad BMP", "bad BMP");
info->bpp = stbi__get16le(s);
if (hsz != 12) {
int compress = stbi__get32le(s);
if (compress == 1 || compress == 2) return stbi__errpuc("BMP RLE", "BMP type not supported: RLE");
stbi__get32le(s); // discard sizeof
stbi__get32le(s); // discard hres
stbi__get32le(s); // discard vres
stbi__get32le(s); // discard colorsused
stbi__get32le(s); // discard max important
if (hsz == 40 || hsz == 56) {
if (hsz == 56) {
stbi__get32le(s);
stbi__get32le(s);
stbi__get32le(s);
stbi__get32le(s);
}
if (info->bpp == 16 || info->bpp == 32) {
if (compress == 0) {
if (info->bpp == 32) {
info->mr = 0xffu << 16;
info->mg = 0xffu << 8;
info->mb = 0xffu << 0;
info->ma = 0xffu << 24;
info->all_a = 0; // if all_a is 0 at end, then we loaded alpha channel but it was all 0
} else {
info->mr = 31u << 10;
info->mg = 31u << 5;
info->mb = 31u << 0;
}
} else if (compress == 3) {
info->mr = stbi__get32le(s);
info->mg = stbi__get32le(s);
info->mb = stbi__get32le(s);
info->extra_read += 12;
// not documented, but generated by photoshop and handled by mspaint
if (info->mr == info->mg && info->mg == info->mb) {
// ?!?!?
return stbi__errpuc("bad BMP", "bad BMP");
}
} else
return stbi__errpuc("bad BMP", "bad BMP");
}
} else {
int i;
if (hsz != 108 && hsz != 124)
return stbi__errpuc("bad BMP", "bad BMP");
info->mr = stbi__get32le(s);
info->mg = stbi__get32le(s);
info->mb = stbi__get32le(s);
info->ma = stbi__get32le(s);
stbi__get32le(s); // discard color space
for (i=0; i < 12; ++i)
stbi__get32le(s); // discard color space parameters
if (hsz == 124) {
stbi__get32le(s); // discard rendering intent
stbi__get32le(s); // discard offset of profile data
stbi__get32le(s); // discard size of profile data
stbi__get32le(s); // discard reserved
}
}
}
return (void *) 1;
}
static void *stbi__bmp_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
stbi_uc *out;
unsigned int mr=0,mg=0,mb=0,ma=0, all_a;
stbi_uc pal[256][4];
int psize=0,i,j,width;
int flip_vertically, pad, target;
stbi__bmp_data info;
STBI_NOTUSED(ri);
info.all_a = 255;
if (stbi__bmp_parse_header(s, &info) == NULL)
return NULL; // error code already set
flip_vertically = ((int) s->img_y) > 0;
s->img_y = abs((int) s->img_y);
if (s->img_y > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (s->img_x > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
mr = info.mr;
mg = info.mg;
mb = info.mb;
ma = info.ma;
all_a = info.all_a;
if (info.hsz == 12) {
if (info.bpp < 24)
psize = (info.offset - info.extra_read - 24) / 3;
} else {
if (info.bpp < 16)
psize = (info.offset - info.extra_read - info.hsz) >> 2;
}
if (psize == 0) {
STBI_ASSERT(info.offset == s->callback_already_read + (int) (s->img_buffer - s->img_buffer_original));
if (info.offset != s->callback_already_read + (s->img_buffer - s->buffer_start)) {
return stbi__errpuc("bad offset", "Corrupt BMP");
}
}
if (info.bpp == 24 && ma == 0xff000000)
s->img_n = 3;
else
s->img_n = ma ? 4 : 3;
if (req_comp && req_comp >= 3) // we can directly decode 3 or 4
target = req_comp;
else
target = s->img_n; // if they want monochrome, we'll post-convert
// sanity-check size
if (!stbi__mad3sizes_valid(target, s->img_x, s->img_y, 0))
return stbi__errpuc("too large", "Corrupt BMP");
out = (stbi_uc *) stbi__malloc_mad3(target, s->img_x, s->img_y, 0);
if (!out) return stbi__errpuc("outofmem", "Out of memory");
if (info.bpp < 16) {
int z=0;
if (psize == 0 || psize > 256) { STBI_FREE(out); return stbi__errpuc("invalid", "Corrupt BMP"); }
for (i=0; i < psize; ++i) {
pal[i][2] = stbi__get8(s);
pal[i][1] = stbi__get8(s);
pal[i][0] = stbi__get8(s);
if (info.hsz != 12) stbi__get8(s);
pal[i][3] = 255;
}
stbi__skip(s, info.offset - info.extra_read - info.hsz - psize * (info.hsz == 12 ? 3 : 4));
if (info.bpp == 1) width = (s->img_x + 7) >> 3;
else if (info.bpp == 4) width = (s->img_x + 1) >> 1;
else if (info.bpp == 8) width = s->img_x;
else { STBI_FREE(out); return stbi__errpuc("bad bpp", "Corrupt BMP"); }
pad = (-width)&3;
if (info.bpp == 1) {
for (j=0; j < (int) s->img_y; ++j) {
int bit_offset = 7, v = stbi__get8(s);
for (i=0; i < (int) s->img_x; ++i) {
int color = (v>>bit_offset)&0x1;
out[z++] = pal[color][0];
out[z++] = pal[color][1];
out[z++] = pal[color][2];
if (target == 4) out[z++] = 255;
if (i+1 == (int) s->img_x) break;
if((--bit_offset) < 0) {
bit_offset = 7;
v = stbi__get8(s);
}
}
stbi__skip(s, pad);
}
} else {
for (j=0; j < (int) s->img_y; ++j) {
for (i=0; i < (int) s->img_x; i += 2) {
int v=stbi__get8(s),v2=0;
if (info.bpp == 4) {
v2 = v & 15;
v >>= 4;
}
out[z++] = pal[v][0];
out[z++] = pal[v][1];
out[z++] = pal[v][2];
if (target == 4) out[z++] = 255;
if (i+1 == (int) s->img_x) break;
v = (info.bpp == 8) ? stbi__get8(s) : v2;
out[z++] = pal[v][0];
out[z++] = pal[v][1];
out[z++] = pal[v][2];
if (target == 4) out[z++] = 255;
}
stbi__skip(s, pad);
}
}
} else {
int rshift=0,gshift=0,bshift=0,ashift=0,rcount=0,gcount=0,bcount=0,acount=0;
int z = 0;
int easy=0;
stbi__skip(s, info.offset - info.extra_read - info.hsz);
if (info.bpp == 24) width = 3 * s->img_x;
else if (info.bpp == 16) width = 2*s->img_x;
else /* bpp = 32 and pad = 0 */ width=0;
pad = (-width) & 3;
if (info.bpp == 24) {
easy = 1;
} else if (info.bpp == 32) {
if (mb == 0xff && mg == 0xff00 && mr == 0x00ff0000 && ma == 0xff000000)
easy = 2;
}
if (!easy) {
if (!mr || !mg || !mb) { STBI_FREE(out); return stbi__errpuc("bad masks", "Corrupt BMP"); }
// right shift amt to put high bit in position #7
rshift = stbi__high_bit(mr)-7; rcount = stbi__bitcount(mr);
gshift = stbi__high_bit(mg)-7; gcount = stbi__bitcount(mg);
bshift = stbi__high_bit(mb)-7; bcount = stbi__bitcount(mb);
ashift = stbi__high_bit(ma)-7; acount = stbi__bitcount(ma);
if (rcount > 8 || gcount > 8 || bcount > 8 || acount > 8) { STBI_FREE(out); return stbi__errpuc("bad masks", "Corrupt BMP"); }
}
for (j=0; j < (int) s->img_y; ++j) {
if (easy) {
for (i=0; i < (int) s->img_x; ++i) {
unsigned char a;
out[z+2] = stbi__get8(s);
out[z+1] = stbi__get8(s);
out[z+0] = stbi__get8(s);
z += 3;
a = (easy == 2 ? stbi__get8(s) : 255);
all_a |= a;
if (target == 4) out[z++] = a;
}
} else {
int bpp = info.bpp;
for (i=0; i < (int) s->img_x; ++i) {
stbi__uint32 v = (bpp == 16 ? (stbi__uint32) stbi__get16le(s) : stbi__get32le(s));
unsigned int a;
out[z++] = STBI__BYTECAST(stbi__shiftsigned(v & mr, rshift, rcount));
out[z++] = STBI__BYTECAST(stbi__shiftsigned(v & mg, gshift, gcount));
out[z++] = STBI__BYTECAST(stbi__shiftsigned(v & mb, bshift, bcount));
a = (ma ? stbi__shiftsigned(v & ma, ashift, acount) : 255);
all_a |= a;
if (target == 4) out[z++] = STBI__BYTECAST(a);
}
}
stbi__skip(s, pad);
}
}
// if alpha channel is all 0s, replace with all 255s
if (target == 4 && all_a == 0)
for (i=4*s->img_x*s->img_y-1; i >= 0; i -= 4)
out[i] = 255;
if (flip_vertically) {
stbi_uc t;
for (j=0; j < (int) s->img_y>>1; ++j) {
stbi_uc *p1 = out + j *s->img_x*target;
stbi_uc *p2 = out + (s->img_y-1-j)*s->img_x*target;
for (i=0; i < (int) s->img_x*target; ++i) {
t = p1[i]; p1[i] = p2[i]; p2[i] = t;
}
}
}
if (req_comp && req_comp != target) {
out = stbi__convert_format(out, target, req_comp, s->img_x, s->img_y);
if (out == NULL) return out; // stbi__convert_format frees input on failure
}
*x = s->img_x;
*y = s->img_y;
if (comp) *comp = s->img_n;
return out;
}
#endif
// Targa Truevision - TGA
// by Jonathan Dummer
#ifndef STBI_NO_TGA
// returns STBI_rgb or whatever, 0 on error
static int stbi__tga_get_comp(int bits_per_pixel, int is_grey, int* is_rgb16)
{
// only RGB or RGBA (incl. 16bit) or grey allowed
if (is_rgb16) *is_rgb16 = 0;
switch(bits_per_pixel) {
case 8: return STBI_grey;
case 16: if(is_grey) return STBI_grey_alpha;
// fallthrough
case 15: if(is_rgb16) *is_rgb16 = 1;
return STBI_rgb;
case 24: // fallthrough
case 32: return bits_per_pixel/8;
default: return 0;
}
}
static int stbi__tga_info(stbi__context *s, int *x, int *y, int *comp)
{
int tga_w, tga_h, tga_comp, tga_image_type, tga_bits_per_pixel, tga_colormap_bpp;
int sz, tga_colormap_type;
stbi__get8(s); // discard Offset
tga_colormap_type = stbi__get8(s); // colormap type
if( tga_colormap_type > 1 ) {
stbi__rewind(s);
return 0; // only RGB or indexed allowed
}
tga_image_type = stbi__get8(s); // image type
if ( tga_colormap_type == 1 ) { // colormapped (paletted) image
if (tga_image_type != 1 && tga_image_type != 9) {
stbi__rewind(s);
return 0;
}
stbi__skip(s,4); // skip index of first colormap entry and number of entries
sz = stbi__get8(s); // check bits per palette color entry
if ( (sz != 8) && (sz != 15) && (sz != 16) && (sz != 24) && (sz != 32) ) {
stbi__rewind(s);
return 0;
}
stbi__skip(s,4); // skip image x and y origin
tga_colormap_bpp = sz;
} else { // "normal" image w/o colormap - only RGB or grey allowed, +/- RLE
if ( (tga_image_type != 2) && (tga_image_type != 3) && (tga_image_type != 10) && (tga_image_type != 11) ) {
stbi__rewind(s);
return 0; // only RGB or grey allowed, +/- RLE
}
stbi__skip(s,9); // skip colormap specification and image x/y origin
tga_colormap_bpp = 0;
}
tga_w = stbi__get16le(s);
if( tga_w < 1 ) {
stbi__rewind(s);
return 0; // test width
}
tga_h = stbi__get16le(s);
if( tga_h < 1 ) {
stbi__rewind(s);
return 0; // test height
}
tga_bits_per_pixel = stbi__get8(s); // bits per pixel
stbi__get8(s); // ignore alpha bits
if (tga_colormap_bpp != 0) {
if((tga_bits_per_pixel != 8) && (tga_bits_per_pixel != 16)) {
// when using a colormap, tga_bits_per_pixel is the size of the indexes
// I don't think anything but 8 or 16bit indexes makes sense
stbi__rewind(s);
return 0;
}
tga_comp = stbi__tga_get_comp(tga_colormap_bpp, 0, NULL);
} else {
tga_comp = stbi__tga_get_comp(tga_bits_per_pixel, (tga_image_type == 3) || (tga_image_type == 11), NULL);
}
if(!tga_comp) {
stbi__rewind(s);
return 0;
}
if (x) *x = tga_w;
if (y) *y = tga_h;
if (comp) *comp = tga_comp;
return 1; // seems to have passed everything
}
static int stbi__tga_test(stbi__context *s)
{
int res = 0;
int sz, tga_color_type;
stbi__get8(s); // discard Offset
tga_color_type = stbi__get8(s); // color type
if ( tga_color_type > 1 ) goto errorEnd; // only RGB or indexed allowed
sz = stbi__get8(s); // image type
if ( tga_color_type == 1 ) { // colormapped (paletted) image
if (sz != 1 && sz != 9) goto errorEnd; // colortype 1 demands image type 1 or 9
stbi__skip(s,4); // skip index of first colormap entry and number of entries
sz = stbi__get8(s); // check bits per palette color entry
if ( (sz != 8) && (sz != 15) && (sz != 16) && (sz != 24) && (sz != 32) ) goto errorEnd;
stbi__skip(s,4); // skip image x and y origin
} else { // "normal" image w/o colormap
if ( (sz != 2) && (sz != 3) && (sz != 10) && (sz != 11) ) goto errorEnd; // only RGB or grey allowed, +/- RLE
stbi__skip(s,9); // skip colormap specification and image x/y origin
}
if ( stbi__get16le(s) < 1 ) goto errorEnd; // test width
if ( stbi__get16le(s) < 1 ) goto errorEnd; // test height
sz = stbi__get8(s); // bits per pixel
if ( (tga_color_type == 1) && (sz != 8) && (sz != 16) ) goto errorEnd; // for colormapped images, bpp is size of an index
if ( (sz != 8) && (sz != 15) && (sz != 16) && (sz != 24) && (sz != 32) ) goto errorEnd;
res = 1; // if we got this far, everything's good and we can return 1 instead of 0
errorEnd:
stbi__rewind(s);
return res;
}
// read 16bit value and convert to 24bit RGB
static void stbi__tga_read_rgb16(stbi__context *s, stbi_uc* out)
{
stbi__uint16 px = (stbi__uint16)stbi__get16le(s);
stbi__uint16 fiveBitMask = 31;
// we have 3 channels with 5bits each
int r = (px >> 10) & fiveBitMask;
int g = (px >> 5) & fiveBitMask;
int b = px & fiveBitMask;
// Note that this saves the data in RGB(A) order, so it doesn't need to be swapped later
out[0] = (stbi_uc)((r * 255)/31);
out[1] = (stbi_uc)((g * 255)/31);
out[2] = (stbi_uc)((b * 255)/31);
// some people claim that the most significant bit might be used for alpha
// (possibly if an alpha-bit is set in the "image descriptor byte")
// but that only made 16bit test images completely translucent..
// so let's treat all 15 and 16bit TGAs as RGB with no alpha.
}
static void *stbi__tga_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
// read in the TGA header stuff
int tga_offset = stbi__get8(s);
int tga_indexed = stbi__get8(s);
int tga_image_type = stbi__get8(s);
int tga_is_RLE = 0;
int tga_palette_start = stbi__get16le(s);
int tga_palette_len = stbi__get16le(s);
int tga_palette_bits = stbi__get8(s);
int tga_x_origin = stbi__get16le(s);
int tga_y_origin = stbi__get16le(s);
int tga_width = stbi__get16le(s);
int tga_height = stbi__get16le(s);
int tga_bits_per_pixel = stbi__get8(s);
int tga_comp, tga_rgb16=0;
int tga_inverted = stbi__get8(s);
// int tga_alpha_bits = tga_inverted & 15; // the 4 lowest bits - unused (useless?)
// image data
unsigned char *tga_data;
unsigned char *tga_palette = NULL;
int i, j;
unsigned char raw_data[4] = {0};
int RLE_count = 0;
int RLE_repeating = 0;
int read_next_pixel = 1;
STBI_NOTUSED(ri);
STBI_NOTUSED(tga_x_origin); // @TODO
STBI_NOTUSED(tga_y_origin); // @TODO
if (tga_height > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (tga_width > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
// do a tiny bit of precessing
if ( tga_image_type >= 8 )
{
tga_image_type -= 8;
tga_is_RLE = 1;
}
tga_inverted = 1 - ((tga_inverted >> 5) & 1);
// If I'm paletted, then I'll use the number of bits from the palette
if ( tga_indexed ) tga_comp = stbi__tga_get_comp(tga_palette_bits, 0, &tga_rgb16);
else tga_comp = stbi__tga_get_comp(tga_bits_per_pixel, (tga_image_type == 3), &tga_rgb16);
if(!tga_comp) // shouldn't really happen, stbi__tga_test() should have ensured basic consistency
return stbi__errpuc("bad format", "Can't find out TGA pixelformat");
// tga info
*x = tga_width;
*y = tga_height;
if (comp) *comp = tga_comp;
if (!stbi__mad3sizes_valid(tga_width, tga_height, tga_comp, 0))
return stbi__errpuc("too large", "Corrupt TGA");
tga_data = (unsigned char*)stbi__malloc_mad3(tga_width, tga_height, tga_comp, 0);
if (!tga_data) return stbi__errpuc("outofmem", "Out of memory");
// skip to the data's starting position (offset usually = 0)
stbi__skip(s, tga_offset );
if ( !tga_indexed && !tga_is_RLE && !tga_rgb16 ) {
for (i=0; i < tga_height; ++i) {
int row = tga_inverted ? tga_height -i - 1 : i;
stbi_uc *tga_row = tga_data + row*tga_width*tga_comp;
stbi__getn(s, tga_row, tga_width * tga_comp);
}
} else {
// do I need to load a palette?
if ( tga_indexed)
{
if (tga_palette_len == 0) { /* you have to have at least one entry! */
STBI_FREE(tga_data);
return stbi__errpuc("bad palette", "Corrupt TGA");
}
// any data to skip? (offset usually = 0)
stbi__skip(s, tga_palette_start );
// load the palette
tga_palette = (unsigned char*)stbi__malloc_mad2(tga_palette_len, tga_comp, 0);
if (!tga_palette) {
STBI_FREE(tga_data);
return stbi__errpuc("outofmem", "Out of memory");
}
if (tga_rgb16) {
stbi_uc *pal_entry = tga_palette;
STBI_ASSERT(tga_comp == STBI_rgb);
for (i=0; i < tga_palette_len; ++i) {
stbi__tga_read_rgb16(s, pal_entry);
pal_entry += tga_comp;
}
} else if (!stbi__getn(s, tga_palette, tga_palette_len * tga_comp)) {
STBI_FREE(tga_data);
STBI_FREE(tga_palette);
return stbi__errpuc("bad palette", "Corrupt TGA");
}
}
// load the data
for (i=0; i < tga_width * tga_height; ++i)
{
// if I'm in RLE mode, do I need to get a RLE stbi__pngchunk?
if ( tga_is_RLE )
{
if ( RLE_count == 0 )
{
// yep, get the next byte as a RLE command
int RLE_cmd = stbi__get8(s);
RLE_count = 1 + (RLE_cmd & 127);
RLE_repeating = RLE_cmd >> 7;
read_next_pixel = 1;
} else if ( !RLE_repeating )
{
read_next_pixel = 1;
}
} else
{
read_next_pixel = 1;
}
// OK, if I need to read a pixel, do it now
if ( read_next_pixel )
{
// load however much data we did have
if ( tga_indexed )
{
// read in index, then perform the lookup
int pal_idx = (tga_bits_per_pixel == 8) ? stbi__get8(s) : stbi__get16le(s);
if ( pal_idx >= tga_palette_len ) {
// invalid index
pal_idx = 0;
}
pal_idx *= tga_comp;
for (j = 0; j < tga_comp; ++j) {
raw_data[j] = tga_palette[pal_idx+j];
}
} else if(tga_rgb16) {
STBI_ASSERT(tga_comp == STBI_rgb);
stbi__tga_read_rgb16(s, raw_data);
} else {
// read in the data raw
for (j = 0; j < tga_comp; ++j) {
raw_data[j] = stbi__get8(s);
}
}
// clear the reading flag for the next pixel
read_next_pixel = 0;
} // end of reading a pixel
// copy data
for (j = 0; j < tga_comp; ++j)
tga_data[i*tga_comp+j] = raw_data[j];
// in case we're in RLE mode, keep counting down
--RLE_count;
}
// do I need to invert the image?
if ( tga_inverted )
{
for (j = 0; j*2 < tga_height; ++j)
{
int index1 = j * tga_width * tga_comp;
int index2 = (tga_height - 1 - j) * tga_width * tga_comp;
for (i = tga_width * tga_comp; i > 0; --i)
{
unsigned char temp = tga_data[index1];
tga_data[index1] = tga_data[index2];
tga_data[index2] = temp;
++index1;
++index2;
}
}
}
// clear my palette, if I had one
if ( tga_palette != NULL )
{
STBI_FREE( tga_palette );
}
}
// swap RGB - if the source data was RGB16, it already is in the right order
if (tga_comp >= 3 && !tga_rgb16)
{
unsigned char* tga_pixel = tga_data;
for (i=0; i < tga_width * tga_height; ++i)
{
unsigned char temp = tga_pixel[0];
tga_pixel[0] = tga_pixel[2];
tga_pixel[2] = temp;
tga_pixel += tga_comp;
}
}
// convert to target component count
if (req_comp && req_comp != tga_comp)
tga_data = stbi__convert_format(tga_data, tga_comp, req_comp, tga_width, tga_height);
// the things I do to get rid of an error message, and yet keep
// Microsoft's C compilers happy... [8^(
tga_palette_start = tga_palette_len = tga_palette_bits =
tga_x_origin = tga_y_origin = 0;
STBI_NOTUSED(tga_palette_start);
// OK, done
return tga_data;
}
#endif
// *************************************************************************************************
// Photoshop PSD loader -- PD by Thatcher Ulrich, integration by Nicolas Schulz, tweaked by STB
#ifndef STBI_NO_PSD
static int stbi__psd_test(stbi__context *s)
{
int r = (stbi__get32be(s) == 0x38425053);
stbi__rewind(s);
return r;
}
static int stbi__psd_decode_rle(stbi__context *s, stbi_uc *p, int pixelCount)
{
int count, nleft, len;
count = 0;
while ((nleft = pixelCount - count) > 0) {
len = stbi__get8(s);
if (len == 128) {
// No-op.
} else if (len < 128) {
// Copy next len+1 bytes literally.
len++;
if (len > nleft) return 0; // corrupt data
count += len;
while (len) {
*p = stbi__get8(s);
p += 4;
len--;
}
} else if (len > 128) {
stbi_uc val;
// Next -len+1 bytes in the dest are replicated from next source byte.
// (Interpret len as a negative 8-bit int.)
len = 257 - len;
if (len > nleft) return 0; // corrupt data
val = stbi__get8(s);
count += len;
while (len) {
*p = val;
p += 4;
len--;
}
}
}
return 1;
}
static void *stbi__psd_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri, int bpc)
{
int pixelCount;
int channelCount, compression;
int channel, i;
int bitdepth;
int w,h;
stbi_uc *out;
STBI_NOTUSED(ri);
// Check identifier
if (stbi__get32be(s) != 0x38425053) // "8BPS"
return stbi__errpuc("not PSD", "Corrupt PSD image");
// Check file type version.
if (stbi__get16be(s) != 1)
return stbi__errpuc("wrong version", "Unsupported version of PSD image");
// Skip 6 reserved bytes.
stbi__skip(s, 6 );
// Read the number of channels (R, G, B, A, etc).
channelCount = stbi__get16be(s);
if (channelCount < 0 || channelCount > 16)
return stbi__errpuc("wrong channel count", "Unsupported number of channels in PSD image");
// Read the rows and columns of the image.
h = stbi__get32be(s);
w = stbi__get32be(s);
if (h > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (w > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
// Make sure the depth is 8 bits.
bitdepth = stbi__get16be(s);
if (bitdepth != 8 && bitdepth != 16)
return stbi__errpuc("unsupported bit depth", "PSD bit depth is not 8 or 16 bit");
// Make sure the color mode is RGB.
// Valid options are:
// 0: Bitmap
// 1: Grayscale
// 2: Indexed color
// 3: RGB color
// 4: CMYK color
// 7: Multichannel
// 8: Duotone
// 9: Lab color
if (stbi__get16be(s) != 3)
return stbi__errpuc("wrong color format", "PSD is not in RGB color format");
// Skip the Mode Data. (It's the palette for indexed color; other info for other modes.)
stbi__skip(s,stbi__get32be(s) );
// Skip the image resources. (resolution, pen tool paths, etc)
stbi__skip(s, stbi__get32be(s) );
// Skip the reserved data.
stbi__skip(s, stbi__get32be(s) );
// Find out if the data is compressed.
// Known values:
// 0: no compression
// 1: RLE compressed
compression = stbi__get16be(s);
if (compression > 1)
return stbi__errpuc("bad compression", "PSD has an unknown compression format");
// Check size
if (!stbi__mad3sizes_valid(4, w, h, 0))
return stbi__errpuc("too large", "Corrupt PSD");
// Create the destination image.
if (!compression && bitdepth == 16 && bpc == 16) {
out = (stbi_uc *) stbi__malloc_mad3(8, w, h, 0);
ri->bits_per_channel = 16;
} else
out = (stbi_uc *) stbi__malloc(4 * w*h);
if (!out) return stbi__errpuc("outofmem", "Out of memory");
pixelCount = w*h;
// Initialize the data to zero.
//memset( out, 0, pixelCount * 4 );
// Finally, the image data.
if (compression) {
// RLE as used by .PSD and .TIFF
// Loop until you get the number of unpacked bytes you are expecting:
// Read the next source byte into n.
// If n is between 0 and 127 inclusive, copy the next n+1 bytes literally.
// Else if n is between -127 and -1 inclusive, copy the next byte -n+1 times.
// Else if n is 128, noop.
// Endloop
// The RLE-compressed data is preceded by a 2-byte data count for each row in the data,
// which we're going to just skip.
stbi__skip(s, h * channelCount * 2 );
// Read the RLE data by channel.
for (channel = 0; channel < 4; channel++) {
stbi_uc *p;
p = out+channel;
if (channel >= channelCount) {
// Fill this channel with default data.
for (i = 0; i < pixelCount; i++, p += 4)
*p = (channel == 3 ? 255 : 0);
} else {
// Read the RLE data.
if (!stbi__psd_decode_rle(s, p, pixelCount)) {
STBI_FREE(out);
return stbi__errpuc("corrupt", "bad RLE data");
}
}
}
} else {
// We're at the raw image data. It's each channel in order (Red, Green, Blue, Alpha, ...)
// where each channel consists of an 8-bit (or 16-bit) value for each pixel in the image.
// Read the data by channel.
for (channel = 0; channel < 4; channel++) {
if (channel >= channelCount) {
// Fill this channel with default data.
if (bitdepth == 16 && bpc == 16) {
stbi__uint16 *q = ((stbi__uint16 *) out) + channel;
stbi__uint16 val = channel == 3 ? 65535 : 0;
for (i = 0; i < pixelCount; i++, q += 4)
*q = val;
} else {
stbi_uc *p = out+channel;
stbi_uc val = channel == 3 ? 255 : 0;
for (i = 0; i < pixelCount; i++, p += 4)
*p = val;
}
} else {
if (ri->bits_per_channel == 16) { // output bpc
stbi__uint16 *q = ((stbi__uint16 *) out) + channel;
for (i = 0; i < pixelCount; i++, q += 4)
*q = (stbi__uint16) stbi__get16be(s);
} else {
stbi_uc *p = out+channel;
if (bitdepth == 16) { // input bpc
for (i = 0; i < pixelCount; i++, p += 4)
*p = (stbi_uc) (stbi__get16be(s) >> 8);
} else {
for (i = 0; i < pixelCount; i++, p += 4)
*p = stbi__get8(s);
}
}
}
}
}
// remove weird white matte from PSD
if (channelCount >= 4) {
if (ri->bits_per_channel == 16) {
for (i=0; i < w*h; ++i) {
stbi__uint16 *pixel = (stbi__uint16 *) out + 4*i;
if (pixel[3] != 0 && pixel[3] != 65535) {
float a = pixel[3] / 65535.0f;
float ra = 1.0f / a;
float inv_a = 65535.0f * (1 - ra);
pixel[0] = (stbi__uint16) (pixel[0]*ra + inv_a);
pixel[1] = (stbi__uint16) (pixel[1]*ra + inv_a);
pixel[2] = (stbi__uint16) (pixel[2]*ra + inv_a);
}
}
} else {
for (i=0; i < w*h; ++i) {
unsigned char *pixel = out + 4*i;
if (pixel[3] != 0 && pixel[3] != 255) {
float a = pixel[3] / 255.0f;
float ra = 1.0f / a;
float inv_a = 255.0f * (1 - ra);
pixel[0] = (unsigned char) (pixel[0]*ra + inv_a);
pixel[1] = (unsigned char) (pixel[1]*ra + inv_a);
pixel[2] = (unsigned char) (pixel[2]*ra + inv_a);
}
}
}
}
// convert to desired output format
if (req_comp && req_comp != 4) {
if (ri->bits_per_channel == 16)
out = (stbi_uc *) stbi__convert_format16((stbi__uint16 *) out, 4, req_comp, w, h);
else
out = stbi__convert_format(out, 4, req_comp, w, h);
if (out == NULL) return out; // stbi__convert_format frees input on failure
}
if (comp) *comp = 4;
*y = h;
*x = w;
return out;
}
#endif
// *************************************************************************************************
// Softimage PIC loader
// by Tom Seddon
//
// See http://softimage.wiki.softimage.com/index.php/INFO:_PIC_file_format
// See http://ozviz.wasp.uwa.edu.au/~pbourke/dataformats/softimagepic/
#ifndef STBI_NO_PIC
static int stbi__pic_is4(stbi__context *s,const char *str)
{
int i;
for (i=0; i<4; ++i)
if (stbi__get8(s) != (stbi_uc)str[i])
return 0;
return 1;
}
static int stbi__pic_test_core(stbi__context *s)
{
int i;
if (!stbi__pic_is4(s,"\x53\x80\xF6\x34"))
return 0;
for(i=0;i<84;++i)
stbi__get8(s);
if (!stbi__pic_is4(s,"PICT"))
return 0;
return 1;
}
typedef struct
{
stbi_uc size,type,channel;
} stbi__pic_packet;
static stbi_uc *stbi__readval(stbi__context *s, int channel, stbi_uc *dest)
{
int mask=0x80, i;
for (i=0; i<4; ++i, mask>>=1) {
if (channel & mask) {
if (stbi__at_eof(s)) return stbi__errpuc("bad file","PIC file too short");
dest[i]=stbi__get8(s);
}
}
return dest;
}
static void stbi__copyval(int channel,stbi_uc *dest,const stbi_uc *src)
{
int mask=0x80,i;
for (i=0;i<4; ++i, mask>>=1)
if (channel&mask)
dest[i]=src[i];
}
static stbi_uc *stbi__pic_load_core(stbi__context *s,int width,int height,int *comp, stbi_uc *result)
{
int act_comp=0,num_packets=0,y,chained;
stbi__pic_packet packets[10];
// this will (should...) cater for even some bizarre stuff like having data
// for the same channel in multiple packets.
do {
stbi__pic_packet *packet;
if (num_packets==sizeof(packets)/sizeof(packets[0]))
return stbi__errpuc("bad format","too many packets");
packet = &packets[num_packets++];
chained = stbi__get8(s);
packet->size = stbi__get8(s);
packet->type = stbi__get8(s);
packet->channel = stbi__get8(s);
act_comp |= packet->channel;
if (stbi__at_eof(s)) return stbi__errpuc("bad file","file too short (reading packets)");
if (packet->size != 8) return stbi__errpuc("bad format","packet isn't 8bpp");
} while (chained);
*comp = (act_comp & 0x10 ? 4 : 3); // has alpha channel?
for(y=0; y<height; ++y) {
int packet_idx;
for(packet_idx=0; packet_idx < num_packets; ++packet_idx) {
stbi__pic_packet *packet = &packets[packet_idx];
stbi_uc *dest = result+y*width*4;
switch (packet->type) {
default:
return stbi__errpuc("bad format","packet has bad compression type");
case 0: {//uncompressed
int x;
for(x=0;x<width;++x, dest+=4)
if (!stbi__readval(s,packet->channel,dest))
return 0;
break;
}
case 1://Pure RLE
{
int left=width, i;
while (left>0) {
stbi_uc count,value[4];
count=stbi__get8(s);
if (stbi__at_eof(s)) return stbi__errpuc("bad file","file too short (pure read count)");
if (count > left)
count = (stbi_uc) left;
if (!stbi__readval(s,packet->channel,value)) return 0;
for(i=0; i<count; ++i,dest+=4)
stbi__copyval(packet->channel,dest,value);
left -= count;
}
}
break;
case 2: {//Mixed RLE
int left=width;
while (left>0) {
int count = stbi__get8(s), i;
if (stbi__at_eof(s)) return stbi__errpuc("bad file","file too short (mixed read count)");
if (count >= 128) { // Repeated
stbi_uc value[4];
if (count==128)
count = stbi__get16be(s);
else
count -= 127;
if (count > left)
return stbi__errpuc("bad file","scanline overrun");
if (!stbi__readval(s,packet->channel,value))
return 0;
for(i=0;i<count;++i, dest += 4)
stbi__copyval(packet->channel,dest,value);
} else { // Raw
++count;
if (count>left) return stbi__errpuc("bad file","scanline overrun");
for(i=0;i<count;++i, dest+=4)
if (!stbi__readval(s,packet->channel,dest))
return 0;
}
left-=count;
}
break;
}
}
}
}
return result;
}
static void *stbi__pic_load(stbi__context *s,int *px,int *py,int *comp,int req_comp, stbi__result_info *ri)
{
stbi_uc *result;
int i, x,y, internal_comp;
STBI_NOTUSED(ri);
if (!comp) comp = &internal_comp;
for (i=0; i<92; ++i)
stbi__get8(s);
x = stbi__get16be(s);
y = stbi__get16be(s);
if (y > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (x > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (stbi__at_eof(s)) return stbi__errpuc("bad file","file too short (pic header)");
if (!stbi__mad3sizes_valid(x, y, 4, 0)) return stbi__errpuc("too large", "PIC image too large to decode");
stbi__get32be(s); //skip `ratio'
stbi__get16be(s); //skip `fields'
stbi__get16be(s); //skip `pad'
// intermediate buffer is RGBA
result = (stbi_uc *) stbi__malloc_mad3(x, y, 4, 0);
memset(result, 0xff, x*y*4);
if (!stbi__pic_load_core(s,x,y,comp, result)) {
STBI_FREE(result);
result=0;
}
*px = x;
*py = y;
if (req_comp == 0) req_comp = *comp;
result=stbi__convert_format(result,4,req_comp,x,y);
return result;
}
static int stbi__pic_test(stbi__context *s)
{
int r = stbi__pic_test_core(s);
stbi__rewind(s);
return r;
}
#endif
// *************************************************************************************************
// GIF loader -- public domain by Jean-Marc Lienher -- simplified/shrunk by stb
#ifndef STBI_NO_GIF
typedef struct
{
stbi__int16 prefix;
stbi_uc first;
stbi_uc suffix;
} stbi__gif_lzw;
typedef struct
{
int w,h;
stbi_uc *out; // output buffer (always 4 components)
stbi_uc *background; // The current "background" as far as a gif is concerned
stbi_uc *history;
int flags, bgindex, ratio, transparent, eflags;
stbi_uc pal[256][4];
stbi_uc lpal[256][4];
stbi__gif_lzw codes[8192];
stbi_uc *color_table;
int parse, step;
int lflags;
int start_x, start_y;
int max_x, max_y;
int cur_x, cur_y;
int line_size;
int delay;
} stbi__gif;
static int stbi__gif_test_raw(stbi__context *s)
{
int sz;
if (stbi__get8(s) != 'G' || stbi__get8(s) != 'I' || stbi__get8(s) != 'F' || stbi__get8(s) != '8') return 0;
sz = stbi__get8(s);
if (sz != '9' && sz != '7') return 0;
if (stbi__get8(s) != 'a') return 0;
return 1;
}
static int stbi__gif_test(stbi__context *s)
{
int r = stbi__gif_test_raw(s);
stbi__rewind(s);
return r;
}
static void stbi__gif_parse_colortable(stbi__context *s, stbi_uc pal[256][4], int num_entries, int transp)
{
int i;
for (i=0; i < num_entries; ++i) {
pal[i][2] = stbi__get8(s);
pal[i][1] = stbi__get8(s);
pal[i][0] = stbi__get8(s);
pal[i][3] = transp == i ? 0 : 255;
}
}
static int stbi__gif_header(stbi__context *s, stbi__gif *g, int *comp, int is_info)
{
stbi_uc version;
if (stbi__get8(s) != 'G' || stbi__get8(s) != 'I' || stbi__get8(s) != 'F' || stbi__get8(s) != '8')
return stbi__err("not GIF", "Corrupt GIF");
version = stbi__get8(s);
if (version != '7' && version != '9') return stbi__err("not GIF", "Corrupt GIF");
if (stbi__get8(s) != 'a') return stbi__err("not GIF", "Corrupt GIF");
stbi__g_failure_reason = "";
g->w = stbi__get16le(s);
g->h = stbi__get16le(s);
g->flags = stbi__get8(s);
g->bgindex = stbi__get8(s);
g->ratio = stbi__get8(s);
g->transparent = -1;
if (g->w > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
if (g->h > STBI_MAX_DIMENSIONS) return stbi__err("too large","Very large image (corrupt?)");
if (comp != 0) *comp = 4; // can't actually tell whether it's 3 or 4 until we parse the comments
if (is_info) return 1;
if (g->flags & 0x80)
stbi__gif_parse_colortable(s,g->pal, 2 << (g->flags & 7), -1);
return 1;
}
static int stbi__gif_info_raw(stbi__context *s, int *x, int *y, int *comp)
{
stbi__gif* g = (stbi__gif*) stbi__malloc(sizeof(stbi__gif));
if (!stbi__gif_header(s, g, comp, 1)) {
STBI_FREE(g);
stbi__rewind( s );
return 0;
}
if (x) *x = g->w;
if (y) *y = g->h;
STBI_FREE(g);
return 1;
}
static void stbi__out_gif_code(stbi__gif *g, stbi__uint16 code)
{
stbi_uc *p, *c;
int idx;
// recurse to decode the prefixes, since the linked-list is backwards,
// and working backwards through an interleaved image would be nasty
if (g->codes[code].prefix >= 0)
stbi__out_gif_code(g, g->codes[code].prefix);
if (g->cur_y >= g->max_y) return;
idx = g->cur_x + g->cur_y;
p = &g->out[idx];
g->history[idx / 4] = 1;
c = &g->color_table[g->codes[code].suffix * 4];
if (c[3] > 128) { // don't render transparent pixels;
p[0] = c[2];
p[1] = c[1];
p[2] = c[0];
p[3] = c[3];
}
g->cur_x += 4;
if (g->cur_x >= g->max_x) {
g->cur_x = g->start_x;
g->cur_y += g->step;
while (g->cur_y >= g->max_y && g->parse > 0) {
g->step = (1 << g->parse) * g->line_size;
g->cur_y = g->start_y + (g->step >> 1);
--g->parse;
}
}
}
static stbi_uc *stbi__process_gif_raster(stbi__context *s, stbi__gif *g)
{
stbi_uc lzw_cs;
stbi__int32 len, init_code;
stbi__uint32 first;
stbi__int32 codesize, codemask, avail, oldcode, bits, valid_bits, clear;
stbi__gif_lzw *p;
lzw_cs = stbi__get8(s);
if (lzw_cs > 12) return NULL;
clear = 1 << lzw_cs;
first = 1;
codesize = lzw_cs + 1;
codemask = (1 << codesize) - 1;
bits = 0;
valid_bits = 0;
for (init_code = 0; init_code < clear; init_code++) {
g->codes[init_code].prefix = -1;
g->codes[init_code].first = (stbi_uc) init_code;
g->codes[init_code].suffix = (stbi_uc) init_code;
}
// support no starting clear code
avail = clear+2;
oldcode = -1;
len = 0;
for(;;) {
if (valid_bits < codesize) {
if (len == 0) {
len = stbi__get8(s); // start new block
if (len == 0)
return g->out;
}
--len;
bits |= (stbi__int32) stbi__get8(s) << valid_bits;
valid_bits += 8;
} else {
stbi__int32 code = bits & codemask;
bits >>= codesize;
valid_bits -= codesize;
// @OPTIMIZE: is there some way we can accelerate the non-clear path?
if (code == clear) { // clear code
codesize = lzw_cs + 1;
codemask = (1 << codesize) - 1;
avail = clear + 2;
oldcode = -1;
first = 0;
} else if (code == clear + 1) { // end of stream code
stbi__skip(s, len);
while ((len = stbi__get8(s)) > 0)
stbi__skip(s,len);
return g->out;
} else if (code <= avail) {
if (first) {
return stbi__errpuc("no clear code", "Corrupt GIF");
}
if (oldcode >= 0) {
p = &g->codes[avail++];
if (avail > 8192) {
return stbi__errpuc("too many codes", "Corrupt GIF");
}
p->prefix = (stbi__int16) oldcode;
p->first = g->codes[oldcode].first;
p->suffix = (code == avail) ? p->first : g->codes[code].first;
} else if (code == avail)
return stbi__errpuc("illegal code in raster", "Corrupt GIF");
stbi__out_gif_code(g, (stbi__uint16) code);
if ((avail & codemask) == 0 && avail <= 0x0FFF) {
codesize++;
codemask = (1 << codesize) - 1;
}
oldcode = code;
} else {
return stbi__errpuc("illegal code in raster", "Corrupt GIF");
}
}
}
}
// this function is designed to support animated gifs, although stb_image doesn't support it
// two back is the image from two frames ago, used for a very specific disposal format
static stbi_uc *stbi__gif_load_next(stbi__context *s, stbi__gif *g, int *comp, int req_comp, stbi_uc *two_back)
{
int dispose;
int first_frame;
int pi;
int pcount;
STBI_NOTUSED(req_comp);
// on first frame, any non-written pixels get the background colour (non-transparent)
first_frame = 0;
if (g->out == 0) {
if (!stbi__gif_header(s, g, comp,0)) return 0; // stbi__g_failure_reason set by stbi__gif_header
if (!stbi__mad3sizes_valid(4, g->w, g->h, 0))
return stbi__errpuc("too large", "GIF image is too large");
pcount = g->w * g->h;
g->out = (stbi_uc *) stbi__malloc(4 * pcount);
g->background = (stbi_uc *) stbi__malloc(4 * pcount);
g->history = (stbi_uc *) stbi__malloc(pcount);
if (!g->out || !g->background || !g->history)
return stbi__errpuc("outofmem", "Out of memory");
// image is treated as "transparent" at the start - ie, nothing overwrites the current background;
// background colour is only used for pixels that are not rendered first frame, after that "background"
// color refers to the color that was there the previous frame.
memset(g->out, 0x00, 4 * pcount);
memset(g->background, 0x00, 4 * pcount); // state of the background (starts transparent)
memset(g->history, 0x00, pcount); // pixels that were affected previous frame
first_frame = 1;
} else {
// second frame - how do we dispose of the previous one?
dispose = (g->eflags & 0x1C) >> 2;
pcount = g->w * g->h;
if ((dispose == 3) && (two_back == 0)) {
dispose = 2; // if I don't have an image to revert back to, default to the old background
}
if (dispose == 3) { // use previous graphic
for (pi = 0; pi < pcount; ++pi) {
if (g->history[pi]) {
memcpy( &g->out[pi * 4], &two_back[pi * 4], 4 );
}
}
} else if (dispose == 2) {
// restore what was changed last frame to background before that frame;
for (pi = 0; pi < pcount; ++pi) {
if (g->history[pi]) {
memcpy( &g->out[pi * 4], &g->background[pi * 4], 4 );
}
}
} else {
// This is a non-disposal case eithe way, so just
// leave the pixels as is, and they will become the new background
// 1: do not dispose
// 0: not specified.
}
// background is what out is after the undoing of the previou frame;
memcpy( g->background, g->out, 4 * g->w * g->h );
}
// clear my history;
memset( g->history, 0x00, g->w * g->h ); // pixels that were affected previous frame
for (;;) {
int tag = stbi__get8(s);
switch (tag) {
case 0x2C: /* Image Descriptor */
{
stbi__int32 x, y, w, h;
stbi_uc *o;
x = stbi__get16le(s);
y = stbi__get16le(s);
w = stbi__get16le(s);
h = stbi__get16le(s);
if (((x + w) > (g->w)) || ((y + h) > (g->h)))
return stbi__errpuc("bad Image Descriptor", "Corrupt GIF");
g->line_size = g->w * 4;
g->start_x = x * 4;
g->start_y = y * g->line_size;
g->max_x = g->start_x + w * 4;
g->max_y = g->start_y + h * g->line_size;
g->cur_x = g->start_x;
g->cur_y = g->start_y;
// if the width of the specified rectangle is 0, that means
// we may not see *any* pixels or the image is malformed;
// to make sure this is caught, move the current y down to
// max_y (which is what out_gif_code checks).
if (w == 0)
g->cur_y = g->max_y;
g->lflags = stbi__get8(s);
if (g->lflags & 0x40) {
g->step = 8 * g->line_size; // first interlaced spacing
g->parse = 3;
} else {
g->step = g->line_size;
g->parse = 0;
}
if (g->lflags & 0x80) {
stbi__gif_parse_colortable(s,g->lpal, 2 << (g->lflags & 7), g->eflags & 0x01 ? g->transparent : -1);
g->color_table = (stbi_uc *) g->lpal;
} else if (g->flags & 0x80) {
g->color_table = (stbi_uc *) g->pal;
} else
return stbi__errpuc("missing color table", "Corrupt GIF");
o = stbi__process_gif_raster(s, g);
if (!o) return NULL;
// if this was the first frame,
pcount = g->w * g->h;
if (first_frame && (g->bgindex > 0)) {
// if first frame, any pixel not drawn to gets the background color
for (pi = 0; pi < pcount; ++pi) {
if (g->history[pi] == 0) {
g->pal[g->bgindex][3] = 255; // just in case it was made transparent, undo that; It will be reset next frame if need be;
memcpy( &g->out[pi * 4], &g->pal[g->bgindex], 4 );
}
}
}
return o;
}
case 0x21: // Comment Extension.
{
int len;
int ext = stbi__get8(s);
if (ext == 0xF9) { // Graphic Control Extension.
len = stbi__get8(s);
if (len == 4) {
g->eflags = stbi__get8(s);
g->delay = 10 * stbi__get16le(s); // delay - 1/100th of a second, saving as 1/1000ths.
// unset old transparent
if (g->transparent >= 0) {
g->pal[g->transparent][3] = 255;
}
if (g->eflags & 0x01) {
g->transparent = stbi__get8(s);
if (g->transparent >= 0) {
g->pal[g->transparent][3] = 0;
}
} else {
// don't need transparent
stbi__skip(s, 1);
g->transparent = -1;
}
} else {
stbi__skip(s, len);
break;
}
}
while ((len = stbi__get8(s)) != 0) {
stbi__skip(s, len);
}
break;
}
case 0x3B: // gif stream termination code
return (stbi_uc *) s; // using '1' causes warning on some compilers
default:
return stbi__errpuc("unknown code", "Corrupt GIF");
}
}
}
static void *stbi__load_gif_main(stbi__context *s, int **delays, int *x, int *y, int *z, int *comp, int req_comp)
{
if (stbi__gif_test(s)) {
int layers = 0;
stbi_uc *u = 0;
stbi_uc *out = 0;
stbi_uc *two_back = 0;
stbi__gif g;
int stride;
int out_size = 0;
int delays_size = 0;
memset(&g, 0, sizeof(g));
if (delays) {
*delays = 0;
}
do {
u = stbi__gif_load_next(s, &g, comp, req_comp, two_back);
if (u == (stbi_uc *) s) u = 0; // end of animated gif marker
if (u) {
*x = g.w;
*y = g.h;
++layers;
stride = g.w * g.h * 4;
if (out) {
void *tmp = (stbi_uc*) STBI_REALLOC_SIZED( out, out_size, layers * stride );
if (NULL == tmp) {
STBI_FREE(g.out);
STBI_FREE(g.history);
STBI_FREE(g.background);
return stbi__errpuc("outofmem", "Out of memory");
}
else {
out = (stbi_uc*) tmp;
out_size = layers * stride;
}
if (delays) {
*delays = (int*) STBI_REALLOC_SIZED( *delays, delays_size, sizeof(int) * layers );
delays_size = layers * sizeof(int);
}
} else {
out = (stbi_uc*)stbi__malloc( layers * stride );
out_size = layers * stride;
if (delays) {
*delays = (int*) stbi__malloc( layers * sizeof(int) );
delays_size = layers * sizeof(int);
}
}
memcpy( out + ((layers - 1) * stride), u, stride );
if (layers >= 2) {
two_back = out - 2 * stride;
}
if (delays) {
(*delays)[layers - 1U] = g.delay;
}
}
} while (u != 0);
// free temp buffer;
STBI_FREE(g.out);
STBI_FREE(g.history);
STBI_FREE(g.background);
// do the final conversion after loading everything;
if (req_comp && req_comp != 4)
out = stbi__convert_format(out, 4, req_comp, layers * g.w, g.h);
*z = layers;
return out;
} else {
return stbi__errpuc("not GIF", "Image was not as a gif type.");
}
}
static void *stbi__gif_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
stbi_uc *u = 0;
stbi__gif g;
memset(&g, 0, sizeof(g));
STBI_NOTUSED(ri);
u = stbi__gif_load_next(s, &g, comp, req_comp, 0);
if (u == (stbi_uc *) s) u = 0; // end of animated gif marker
if (u) {
*x = g.w;
*y = g.h;
// moved conversion to after successful load so that the same
// can be done for multiple frames.
if (req_comp && req_comp != 4)
u = stbi__convert_format(u, 4, req_comp, g.w, g.h);
} else if (g.out) {
// if there was an error and we allocated an image buffer, free it!
STBI_FREE(g.out);
}
// free buffers needed for multiple frame loading;
STBI_FREE(g.history);
STBI_FREE(g.background);
return u;
}
static int stbi__gif_info(stbi__context *s, int *x, int *y, int *comp)
{
return stbi__gif_info_raw(s,x,y,comp);
}
#endif
// *************************************************************************************************
// Radiance RGBE HDR loader
// originally by Nicolas Schulz
#ifndef STBI_NO_HDR
static int stbi__hdr_test_core(stbi__context *s, const char *signature)
{
int i;
for (i=0; signature[i]; ++i)
if (stbi__get8(s) != signature[i])
return 0;
stbi__rewind(s);
return 1;
}
static int stbi__hdr_test(stbi__context* s)
{
int r = stbi__hdr_test_core(s, "#?RADIANCE\n");
stbi__rewind(s);
if(!r) {
r = stbi__hdr_test_core(s, "#?RGBE\n");
stbi__rewind(s);
}
return r;
}
#define STBI__HDR_BUFLEN 1024
static char *stbi__hdr_gettoken(stbi__context *z, char *buffer)
{
int len=0;
char c = '\0';
c = (char) stbi__get8(z);
while (!stbi__at_eof(z) && c != '\n') {
buffer[len++] = c;
if (len == STBI__HDR_BUFLEN-1) {
// flush to end of line
while (!stbi__at_eof(z) && stbi__get8(z) != '\n')
;
break;
}
c = (char) stbi__get8(z);
}
buffer[len] = 0;
return buffer;
}
static void stbi__hdr_convert(float *output, stbi_uc *input, int req_comp)
{
if ( input[3] != 0 ) {
float f1;
// Exponent
f1 = (float) ldexp(1.0f, input[3] - (int)(128 + 8));
if (req_comp <= 2)
output[0] = (input[0] + input[1] + input[2]) * f1 / 3;
else {
output[0] = input[0] * f1;
output[1] = input[1] * f1;
output[2] = input[2] * f1;
}
if (req_comp == 2) output[1] = 1;
if (req_comp == 4) output[3] = 1;
} else {
switch (req_comp) {
case 4: output[3] = 1; /* fallthrough */
case 3: output[0] = output[1] = output[2] = 0;
break;
case 2: output[1] = 1; /* fallthrough */
case 1: output[0] = 0;
break;
}
}
}
static float *stbi__hdr_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
char buffer[STBI__HDR_BUFLEN];
char *token;
int valid = 0;
int width, height;
stbi_uc *scanline;
float *hdr_data;
int len;
unsigned char count, value;
int i, j, k, c1,c2, z;
const char *headerToken;
STBI_NOTUSED(ri);
// Check identifier
headerToken = stbi__hdr_gettoken(s,buffer);
if (strcmp(headerToken, "#?RADIANCE") != 0 && strcmp(headerToken, "#?RGBE") != 0)
return stbi__errpf("not HDR", "Corrupt HDR image");
// Parse header
for(;;) {
token = stbi__hdr_gettoken(s,buffer);
if (token[0] == 0) break;
if (strcmp(token, "FORMAT=32-bit_rle_rgbe") == 0) valid = 1;
}
if (!valid) return stbi__errpf("unsupported format", "Unsupported HDR format");
// Parse width and height
// can't use sscanf() if we're not using stdio!
token = stbi__hdr_gettoken(s,buffer);
if (strncmp(token, "-Y ", 3)) return stbi__errpf("unsupported data layout", "Unsupported HDR format");
token += 3;
height = (int) strtol(token, &token, 10);
while (*token == ' ') ++token;
if (strncmp(token, "+X ", 3)) return stbi__errpf("unsupported data layout", "Unsupported HDR format");
token += 3;
width = (int) strtol(token, NULL, 10);
if (height > STBI_MAX_DIMENSIONS) return stbi__errpf("too large","Very large image (corrupt?)");
if (width > STBI_MAX_DIMENSIONS) return stbi__errpf("too large","Very large image (corrupt?)");
*x = width;
*y = height;
if (comp) *comp = 3;
if (req_comp == 0) req_comp = 3;
if (!stbi__mad4sizes_valid(width, height, req_comp, sizeof(float), 0))
return stbi__errpf("too large", "HDR image is too large");
// Read data
hdr_data = (float *) stbi__malloc_mad4(width, height, req_comp, sizeof(float), 0);
if (!hdr_data)
return stbi__errpf("outofmem", "Out of memory");
// Load image data
// image data is stored as some number of sca
if ( width < 8 || width >= 32768) {
// Read flat data
for (j=0; j < height; ++j) {
for (i=0; i < width; ++i) {
stbi_uc rgbe[4];
main_decode_loop:
stbi__getn(s, rgbe, 4);
stbi__hdr_convert(hdr_data + j * width * req_comp + i * req_comp, rgbe, req_comp);
}
}
} else {
// Read RLE-encoded data
scanline = NULL;
for (j = 0; j < height; ++j) {
c1 = stbi__get8(s);
c2 = stbi__get8(s);
len = stbi__get8(s);
if (c1 != 2 || c2 != 2 || (len & 0x80)) {
// not run-length encoded, so we have to actually use THIS data as a decoded
// pixel (note this can't be a valid pixel--one of RGB must be >= 128)
stbi_uc rgbe[4];
rgbe[0] = (stbi_uc) c1;
rgbe[1] = (stbi_uc) c2;
rgbe[2] = (stbi_uc) len;
rgbe[3] = (stbi_uc) stbi__get8(s);
stbi__hdr_convert(hdr_data, rgbe, req_comp);
i = 1;
j = 0;
STBI_FREE(scanline);
goto main_decode_loop; // yes, this makes no sense
}
len <<= 8;
len |= stbi__get8(s);
if (len != width) { STBI_FREE(hdr_data); STBI_FREE(scanline); return stbi__errpf("invalid decoded scanline length", "corrupt HDR"); }
if (scanline == NULL) {
scanline = (stbi_uc *) stbi__malloc_mad2(width, 4, 0);
if (!scanline) {
STBI_FREE(hdr_data);
return stbi__errpf("outofmem", "Out of memory");
}
}
for (k = 0; k < 4; ++k) {
int nleft;
i = 0;
while ((nleft = width - i) > 0) {
count = stbi__get8(s);
if (count > 128) {
// Run
value = stbi__get8(s);
count -= 128;
if (count > nleft) { STBI_FREE(hdr_data); STBI_FREE(scanline); return stbi__errpf("corrupt", "bad RLE data in HDR"); }
for (z = 0; z < count; ++z)
scanline[i++ * 4 + k] = value;
} else {
// Dump
if (count > nleft) { STBI_FREE(hdr_data); STBI_FREE(scanline); return stbi__errpf("corrupt", "bad RLE data in HDR"); }
for (z = 0; z < count; ++z)
scanline[i++ * 4 + k] = stbi__get8(s);
}
}
}
for (i=0; i < width; ++i)
stbi__hdr_convert(hdr_data+(j*width + i)*req_comp, scanline + i*4, req_comp);
}
if (scanline)
STBI_FREE(scanline);
}
return hdr_data;
}
static int stbi__hdr_info(stbi__context *s, int *x, int *y, int *comp)
{
char buffer[STBI__HDR_BUFLEN];
char *token;
int valid = 0;
int dummy;
if (!x) x = &dummy;
if (!y) y = &dummy;
if (!comp) comp = &dummy;
if (stbi__hdr_test(s) == 0) {
stbi__rewind( s );
return 0;
}
for(;;) {
token = stbi__hdr_gettoken(s,buffer);
if (token[0] == 0) break;
if (strcmp(token, "FORMAT=32-bit_rle_rgbe") == 0) valid = 1;
}
if (!valid) {
stbi__rewind( s );
return 0;
}
token = stbi__hdr_gettoken(s,buffer);
if (strncmp(token, "-Y ", 3)) {
stbi__rewind( s );
return 0;
}
token += 3;
*y = (int) strtol(token, &token, 10);
while (*token == ' ') ++token;
if (strncmp(token, "+X ", 3)) {
stbi__rewind( s );
return 0;
}
token += 3;
*x = (int) strtol(token, NULL, 10);
*comp = 3;
return 1;
}
#endif // STBI_NO_HDR
#ifndef STBI_NO_BMP
static int stbi__bmp_info(stbi__context *s, int *x, int *y, int *comp)
{
void *p;
stbi__bmp_data info;
info.all_a = 255;
p = stbi__bmp_parse_header(s, &info);
stbi__rewind( s );
if (p == NULL)
return 0;
if (x) *x = s->img_x;
if (y) *y = s->img_y;
if (comp) {
if (info.bpp == 24 && info.ma == 0xff000000)
*comp = 3;
else
*comp = info.ma ? 4 : 3;
}
return 1;
}
#endif
#ifndef STBI_NO_PSD
static int stbi__psd_info(stbi__context *s, int *x, int *y, int *comp)
{
int channelCount, dummy, depth;
if (!x) x = &dummy;
if (!y) y = &dummy;
if (!comp) comp = &dummy;
if (stbi__get32be(s) != 0x38425053) {
stbi__rewind( s );
return 0;
}
if (stbi__get16be(s) != 1) {
stbi__rewind( s );
return 0;
}
stbi__skip(s, 6);
channelCount = stbi__get16be(s);
if (channelCount < 0 || channelCount > 16) {
stbi__rewind( s );
return 0;
}
*y = stbi__get32be(s);
*x = stbi__get32be(s);
depth = stbi__get16be(s);
if (depth != 8 && depth != 16) {
stbi__rewind( s );
return 0;
}
if (stbi__get16be(s) != 3) {
stbi__rewind( s );
return 0;
}
*comp = 4;
return 1;
}
static int stbi__psd_is16(stbi__context *s)
{
int channelCount, depth;
if (stbi__get32be(s) != 0x38425053) {
stbi__rewind( s );
return 0;
}
if (stbi__get16be(s) != 1) {
stbi__rewind( s );
return 0;
}
stbi__skip(s, 6);
channelCount = stbi__get16be(s);
if (channelCount < 0 || channelCount > 16) {
stbi__rewind( s );
return 0;
}
(void) stbi__get32be(s);
(void) stbi__get32be(s);
depth = stbi__get16be(s);
if (depth != 16) {
stbi__rewind( s );
return 0;
}
return 1;
}
#endif
#ifndef STBI_NO_PIC
static int stbi__pic_info(stbi__context *s, int *x, int *y, int *comp)
{
int act_comp=0,num_packets=0,chained,dummy;
stbi__pic_packet packets[10];
if (!x) x = &dummy;
if (!y) y = &dummy;
if (!comp) comp = &dummy;
if (!stbi__pic_is4(s,"\x53\x80\xF6\x34")) {
stbi__rewind(s);
return 0;
}
stbi__skip(s, 88);
*x = stbi__get16be(s);
*y = stbi__get16be(s);
if (stbi__at_eof(s)) {
stbi__rewind( s);
return 0;
}
if ( (*x) != 0 && (1 << 28) / (*x) < (*y)) {
stbi__rewind( s );
return 0;
}
stbi__skip(s, 8);
do {
stbi__pic_packet *packet;
if (num_packets==sizeof(packets)/sizeof(packets[0]))
return 0;
packet = &packets[num_packets++];
chained = stbi__get8(s);
packet->size = stbi__get8(s);
packet->type = stbi__get8(s);
packet->channel = stbi__get8(s);
act_comp |= packet->channel;
if (stbi__at_eof(s)) {
stbi__rewind( s );
return 0;
}
if (packet->size != 8) {
stbi__rewind( s );
return 0;
}
} while (chained);
*comp = (act_comp & 0x10 ? 4 : 3);
return 1;
}
#endif
// *************************************************************************************************
// Portable Gray Map and Portable Pixel Map loader
// by Ken Miller
//
// PGM: http://netpbm.sourceforge.net/doc/pgm.html
// PPM: http://netpbm.sourceforge.net/doc/ppm.html
//
// Known limitations:
// Does not support comments in the header section
// Does not support ASCII image data (formats P2 and P3)
// Does not support 16-bit-per-channel
#ifndef STBI_NO_PNM
static int stbi__pnm_test(stbi__context *s)
{
char p, t;
p = (char) stbi__get8(s);
t = (char) stbi__get8(s);
if (p != 'P' || (t != '5' && t != '6')) {
stbi__rewind( s );
return 0;
}
return 1;
}
static void *stbi__pnm_load(stbi__context *s, int *x, int *y, int *comp, int req_comp, stbi__result_info *ri)
{
stbi_uc *out;
STBI_NOTUSED(ri);
if (!stbi__pnm_info(s, (int *)&s->img_x, (int *)&s->img_y, (int *)&s->img_n))
return 0;
if (s->img_y > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
if (s->img_x > STBI_MAX_DIMENSIONS) return stbi__errpuc("too large","Very large image (corrupt?)");
*x = s->img_x;
*y = s->img_y;
if (comp) *comp = s->img_n;
if (!stbi__mad3sizes_valid(s->img_n, s->img_x, s->img_y, 0))
return stbi__errpuc("too large", "PNM too large");
out = (stbi_uc *) stbi__malloc_mad3(s->img_n, s->img_x, s->img_y, 0);
if (!out) return stbi__errpuc("outofmem", "Out of memory");
stbi__getn(s, out, s->img_n * s->img_x * s->img_y);
if (req_comp && req_comp != s->img_n) {
out = stbi__convert_format(out, s->img_n, req_comp, s->img_x, s->img_y);
if (out == NULL) return out; // stbi__convert_format frees input on failure
}
return out;
}
static int stbi__pnm_isspace(char c)
{
return c == ' ' || c == '\t' || c == '\n' || c == '\v' || c == '\f' || c == '\r';
}
static void stbi__pnm_skip_whitespace(stbi__context *s, char *c)
{
for (;;) {
while (!stbi__at_eof(s) && stbi__pnm_isspace(*c))
*c = (char) stbi__get8(s);
if (stbi__at_eof(s) || *c != '#')
break;
while (!stbi__at_eof(s) && *c != '\n' && *c != '\r' )
*c = (char) stbi__get8(s);
}
}
static int stbi__pnm_isdigit(char c)
{
return c >= '0' && c <= '9';
}
static int stbi__pnm_getinteger(stbi__context *s, char *c)
{
int value = 0;
while (!stbi__at_eof(s) && stbi__pnm_isdigit(*c)) {
value = value*10 + (*c - '0');
*c = (char) stbi__get8(s);
}
return value;
}
static int stbi__pnm_info(stbi__context *s, int *x, int *y, int *comp)
{
int maxv, dummy;
char c, p, t;
if (!x) x = &dummy;
if (!y) y = &dummy;
if (!comp) comp = &dummy;
stbi__rewind(s);
// Get identifier
p = (char) stbi__get8(s);
t = (char) stbi__get8(s);
if (p != 'P' || (t != '5' && t != '6')) {
stbi__rewind(s);
return 0;
}
*comp = (t == '6') ? 3 : 1; // '5' is 1-component .pgm; '6' is 3-component .ppm
c = (char) stbi__get8(s);
stbi__pnm_skip_whitespace(s, &c);
*x = stbi__pnm_getinteger(s, &c); // read width
stbi__pnm_skip_whitespace(s, &c);
*y = stbi__pnm_getinteger(s, &c); // read height
stbi__pnm_skip_whitespace(s, &c);
maxv = stbi__pnm_getinteger(s, &c); // read max value
if (maxv > 255)
return stbi__err("max value > 255", "PPM image not 8-bit");
else
return 1;
}
#endif
static int stbi__info_main(stbi__context *s, int *x, int *y, int *comp)
{
#ifndef STBI_NO_JPEG
if (stbi__jpeg_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_PNG
if (stbi__png_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_GIF
if (stbi__gif_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_BMP
if (stbi__bmp_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_PSD
if (stbi__psd_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_PIC
if (stbi__pic_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_PNM
if (stbi__pnm_info(s, x, y, comp)) return 1;
#endif
#ifndef STBI_NO_HDR
if (stbi__hdr_info(s, x, y, comp)) return 1;
#endif
// test tga last because it's a crappy test!
#ifndef STBI_NO_TGA
if (stbi__tga_info(s, x, y, comp))
return 1;
#endif
return stbi__err("unknown image type", "Image not of any known type, or corrupt");
}
static int stbi__is_16_main(stbi__context *s)
{
#ifndef STBI_NO_PNG
if (stbi__png_is16(s)) return 1;
#endif
#ifndef STBI_NO_PSD
if (stbi__psd_is16(s)) return 1;
#endif
return 0;
}
#ifndef STBI_NO_STDIO
STBIDEF int stbi_info(char const *filename, int *x, int *y, int *comp)
{
FILE *f = stbi__fopen(filename, "rb");
int result;
if (!f) return stbi__err("can't fopen", "Unable to open file");
result = stbi_info_from_file(f, x, y, comp);
fclose(f);
return result;
}
STBIDEF int stbi_info_from_file(FILE *f, int *x, int *y, int *comp)
{
int r;
stbi__context s;
long pos = ftell(f);
stbi__start_file(&s, f);
r = stbi__info_main(&s,x,y,comp);
fseek(f,pos,SEEK_SET);
return r;
}
STBIDEF int stbi_is_16_bit(char const *filename)
{
FILE *f = stbi__fopen(filename, "rb");
int result;
if (!f) return stbi__err("can't fopen", "Unable to open file");
result = stbi_is_16_bit_from_file(f);
fclose(f);
return result;
}
STBIDEF int stbi_is_16_bit_from_file(FILE *f)
{
int r;
stbi__context s;
long pos = ftell(f);
stbi__start_file(&s, f);
r = stbi__is_16_main(&s);
fseek(f,pos,SEEK_SET);
return r;
}
#endif // !STBI_NO_STDIO
STBIDEF int stbi_info_from_memory(stbi_uc const *buffer, int len, int *x, int *y, int *comp)
{
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__info_main(&s,x,y,comp);
}
STBIDEF int stbi_info_from_callbacks(stbi_io_callbacks const *c, void *user, int *x, int *y, int *comp)
{
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *) c, user);
return stbi__info_main(&s,x,y,comp);
}
STBIDEF int stbi_is_16_bit_from_memory(stbi_uc const *buffer, int len)
{
stbi__context s;
stbi__start_mem(&s,buffer,len);
return stbi__is_16_main(&s);
}
STBIDEF int stbi_is_16_bit_from_callbacks(stbi_io_callbacks const *c, void *user)
{
stbi__context s;
stbi__start_callbacks(&s, (stbi_io_callbacks *) c, user);
return stbi__is_16_main(&s);
}
#endif // STB_IMAGE_IMPLEMENTATION
/*
revision history:
2.20 (2019-02-07) support utf8 filenames in Windows; fix warnings and platform ifdefs
2.19 (2018-02-11) fix warning
2.18 (2018-01-30) fix warnings
2.17 (2018-01-29) change sbti__shiftsigned to avoid clang -O2 bug
1-bit BMP
*_is_16_bit api
avoid warnings
2.16 (2017-07-23) all functions have 16-bit variants;
STBI_NO_STDIO works again;
compilation fixes;
fix rounding in unpremultiply;
optimize vertical flip;
disable raw_len validation;
documentation fixes
2.15 (2017-03-18) fix png-1,2,4 bug; now all Imagenet JPGs decode;
warning fixes; disable run-time SSE detection on gcc;
uniform handling of optional "return" values;
thread-safe initialization of zlib tables
2.14 (2017-03-03) remove deprecated STBI_JPEG_OLD; fixes for Imagenet JPGs
2.13 (2016-11-29) add 16-bit API, only supported for PNG right now
2.12 (2016-04-02) fix typo in 2.11 PSD fix that caused crashes
2.11 (2016-04-02) allocate large structures on the stack
remove white matting for transparent PSD
fix reported channel count for PNG & BMP
re-enable SSE2 in non-gcc 64-bit
support RGB-formatted JPEG
read 16-bit PNGs (only as 8-bit)
2.10 (2016-01-22) avoid warning introduced in 2.09 by STBI_REALLOC_SIZED
2.09 (2016-01-16) allow comments in PNM files
16-bit-per-pixel TGA (not bit-per-component)
info() for TGA could break due to .hdr handling
info() for BMP to shares code instead of sloppy parse
can use STBI_REALLOC_SIZED if allocator doesn't support realloc
code cleanup
2.08 (2015-09-13) fix to 2.07 cleanup, reading RGB PSD as RGBA
2.07 (2015-09-13) fix compiler warnings
partial animated GIF support
limited 16-bpc PSD support
#ifdef unused functions
bug with < 92 byte PIC,PNM,HDR,TGA
2.06 (2015-04-19) fix bug where PSD returns wrong '*comp' value
2.05 (2015-04-19) fix bug in progressive JPEG handling, fix warning
2.04 (2015-04-15) try to re-enable SIMD on MinGW 64-bit
2.03 (2015-04-12) extra corruption checking (mmozeiko)
stbi_set_flip_vertically_on_load (nguillemot)
fix NEON support; fix mingw support
2.02 (2015-01-19) fix incorrect assert, fix warning
2.01 (2015-01-17) fix various warnings; suppress SIMD on gcc 32-bit without -msse2
2.00b (2014-12-25) fix STBI_MALLOC in progressive JPEG
2.00 (2014-12-25) optimize JPG, including x86 SSE2 & NEON SIMD (ryg)
progressive JPEG (stb)
PGM/PPM support (Ken Miller)
STBI_MALLOC,STBI_REALLOC,STBI_FREE
GIF bugfix -- seemingly never worked
STBI_NO_*, STBI_ONLY_*
1.48 (2014-12-14) fix incorrectly-named assert()
1.47 (2014-12-14) 1/2/4-bit PNG support, both direct and paletted (Omar Cornut & stb)
optimize PNG (ryg)
fix bug in interlaced PNG with user-specified channel count (stb)
1.46 (2014-08-26)
fix broken tRNS chunk (colorkey-style transparency) in non-paletted PNG
1.45 (2014-08-16)
fix MSVC-ARM internal compiler error by wrapping malloc
1.44 (2014-08-07)
various warning fixes from Ronny Chevalier
1.43 (2014-07-15)
fix MSVC-only compiler problem in code changed in 1.42
1.42 (2014-07-09)
don't define _CRT_SECURE_NO_WARNINGS (affects user code)
fixes to stbi__cleanup_jpeg path
added STBI_ASSERT to avoid requiring assert.h
1.41 (2014-06-25)
fix search&replace from 1.36 that messed up comments/error messages
1.40 (2014-06-22)
fix gcc struct-initialization warning
1.39 (2014-06-15)
fix to TGA optimization when req_comp != number of components in TGA;
fix to GIF loading because BMP wasn't rewinding (whoops, no GIFs in my test suite)
add support for BMP version 5 (more ignored fields)
1.38 (2014-06-06)
suppress MSVC warnings on integer casts truncating values
fix accidental rename of 'skip' field of I/O
1.37 (2014-06-04)
remove duplicate typedef
1.36 (2014-06-03)
convert to header file single-file library
if de-iphone isn't set, load iphone images color-swapped instead of returning NULL
1.35 (2014-05-27)
various warnings
fix broken STBI_SIMD path
fix bug where stbi_load_from_file no longer left file pointer in correct place
fix broken non-easy path for 32-bit BMP (possibly never used)
TGA optimization by Arseny Kapoulkine
1.34 (unknown)
use STBI_NOTUSED in stbi__resample_row_generic(), fix one more leak in tga failure case
1.33 (2011-07-14)
make stbi_is_hdr work in STBI_NO_HDR (as specified), minor compiler-friendly improvements
1.32 (2011-07-13)
support for "info" function for all supported filetypes (SpartanJ)
1.31 (2011-06-20)
a few more leak fixes, bug in PNG handling (SpartanJ)
1.30 (2011-06-11)
added ability to load files via callbacks to accomidate custom input streams (Ben Wenger)
removed deprecated format-specific test/load functions
removed support for installable file formats (stbi_loader) -- would have been broken for IO callbacks anyway
error cases in bmp and tga give messages and don't leak (Raymond Barbiero, grisha)
fix inefficiency in decoding 32-bit BMP (David Woo)
1.29 (2010-08-16)
various warning fixes from Aurelien Pocheville
1.28 (2010-08-01)
fix bug in GIF palette transparency (SpartanJ)
1.27 (2010-08-01)
cast-to-stbi_uc to fix warnings
1.26 (2010-07-24)
fix bug in file buffering for PNG reported by SpartanJ
1.25 (2010-07-17)
refix trans_data warning (Won Chun)
1.24 (2010-07-12)
perf improvements reading from files on platforms with lock-heavy fgetc()
minor perf improvements for jpeg
deprecated type-specific functions so we'll get feedback if they're needed
attempt to fix trans_data warning (Won Chun)
1.23 fixed bug in iPhone support
1.22 (2010-07-10)
removed image *writing* support
stbi_info support from Jetro Lauha
GIF support from Jean-Marc Lienher
iPhone PNG-extensions from James Brown
warning-fixes from Nicolas Schulz and Janez Zemva (i.stbi__err. Janez (U+017D)emva)
1.21 fix use of 'stbi_uc' in header (reported by jon blow)
1.20 added support for Softimage PIC, by Tom Seddon
1.19 bug in interlaced PNG corruption check (found by ryg)
1.18 (2008-08-02)
fix a threading bug (local mutable static)
1.17 support interlaced PNG
1.16 major bugfix - stbi__convert_format converted one too many pixels
1.15 initialize some fields for thread safety
1.14 fix threadsafe conversion bug
header-file-only version (#define STBI_HEADER_FILE_ONLY before including)
1.13 threadsafe
1.12 const qualifiers in the API
1.11 Support installable IDCT, colorspace conversion routines
1.10 Fixes for 64-bit (don't use "unsigned long")
optimized upsampling by Fabian "ryg" Giesen
1.09 Fix format-conversion for PSD code (bad global variables!)
1.08 Thatcher Ulrich's PSD code integrated by Nicolas Schulz
1.07 attempt to fix C++ warning/errors again
1.06 attempt to fix C++ warning/errors again
1.05 fix TGA loading to return correct *comp and use good luminance calc
1.04 default float alpha is 1, not 255; use 'void *' for stbi_image_free
1.03 bugfixes to STBI_NO_STDIO, STBI_NO_HDR
1.02 support for (subset of) HDR files, float interface for preferred access to them
1.01 fix bug: possible bug in handling right-side up bmps... not sure
fix bug: the stbi__bmp_load() and stbi__tga_load() functions didn't work at all
1.00 interface to zlib that skips zlib header
0.99 correct handling of alpha in palette
0.98 TGA loader by lonesock; dynamically add loaders (untested)
0.97 jpeg errors on too large a file; also catch another malloc failure
0.96 fix detection of invalid v value - particleman@mollyrocket forum
0.95 during header scan, seek to markers in case of padding
0.94 STBI_NO_STDIO to disable stdio usage; rename all #defines the same
0.93 handle jpegtran output; verbose errors
0.92 read 4,8,16,24,32-bit BMP files of several formats
0.91 output 24-bit Windows 3.0 BMP files
0.90 fix a few more warnings; bump version number to approach 1.0
0.61 bugfixes due to Marc LeBlanc, Christopher Lloyd
0.60 fix compiling as c++
0.59 fix warnings: merge Dave Moore's -Wall fixes
0.58 fix bug: zlib uncompressed mode len/nlen was wrong endian
0.57 fix bug: jpg last huffman symbol before marker was >9 bits but less than 16 available
0.56 fix bug: zlib uncompressed mode len vs. nlen
0.55 fix bug: restart_interval not initialized to 0
0.54 allow NULL for 'int *comp'
0.53 fix bug in png 3->4; speedup png decoding
0.52 png handles req_comp=3,4 directly; minor cleanup; jpeg comments
0.51 obey req_comp requests, 1-component jpegs return as 1-component,
on 'test' only check type, not whether we support this variant
0.50 (2006-11-19)
first released version
*/
/*
------------------------------------------------------------------------------
This software is available under 2 licenses -- choose whichever you prefer.
------------------------------------------------------------------------------
ALTERNATIVE A - MIT License
Copyright (c) 2017 Sean Barrett
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
------------------------------------------------------------------------------
ALTERNATIVE B - Public Domain (www.unlicense.org)
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
commercial or non-commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
------------------------------------------------------------------------------
*/
| 273,150 | C | 34.186268 | 209 | 0.541787 |
NVIDIA-Omniverse/orbit/pyproject.toml | [tool.isort]
py_version = 310
line_length = 120
group_by_package = true
# Files to skip
skip_glob = ["docs/*", "logs/*", "_isaac_sim/*", ".vscode/*"]
# Order of imports
sections = [
"FUTURE",
"STDLIB",
"THIRDPARTY",
"ASSETS_FIRSTPARTY",
"FIRSTPARTY",
"EXTRA_FIRSTPARTY",
"LOCALFOLDER",
]
# Extra standard libraries considered as part of python (permissive licenses
extra_standard_library = [
"numpy",
"h5py",
"open3d",
"torch",
"tensordict",
"bpy",
"matplotlib",
"gymnasium",
"gym",
"scipy",
"hid",
"yaml",
"prettytable",
"toml",
"trimesh",
"tqdm",
]
# Imports from Isaac Sim and Omniverse
known_third_party = [
"omni.isaac.core",
"omni.replicator.isaac",
"omni.replicator.core",
"pxr",
"omni.kit.*",
"warp",
"carb",
]
# Imports from this repository
known_first_party = "omni.isaac.orbit"
known_assets_firstparty = "omni.isaac.orbit_assets"
known_extra_firstparty = [
"omni.isaac.orbit_tasks"
]
# Imports from the local folder
known_local_folder = "config"
[tool.pyright]
include = ["source/extensions", "source/standalone"]
exclude = [
"**/__pycache__",
"**/_isaac_sim",
"**/docs",
"**/logs",
".git",
".vscode",
]
typeCheckingMode = "basic"
pythonVersion = "3.10"
pythonPlatform = "Linux"
enableTypeIgnoreComments = true
# This is required as the CI pre-commit does not download the module (i.e. numpy, torch, prettytable)
# Therefore, we have to ignore missing imports
reportMissingImports = "none"
# This is required to ignore for type checks of modules with stubs missing.
reportMissingModuleSource = "none" # -> most common: prettytable in mdp managers
reportGeneralTypeIssues = "none" # -> raises 218 errors (usage of literal MISSING in dataclasses)
reportOptionalMemberAccess = "warning" # -> raises 8 errors
reportPrivateUsage = "warning"
[tool.codespell]
skip = '*.usd,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
quiet-level = 0
# the world list should always have words in lower case
ignore-words-list = "haa,slq,collapsable"
# todo: this is hack to deal with incorrect spelling of "Environment" in the Isaac Sim grid world asset
exclude-file = "source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files.py"
| 2,314 | TOML | 23.627659 | 106 | 0.665946 |
NVIDIA-Omniverse/orbit/CONTRIBUTING.md | # Contribution Guidelines
Orbit is a community maintained project. We wholeheartedly welcome contributions to the project to make
the framework more mature and useful for everyone. These may happen in forms of bug reports, feature requests,
design proposals and more.
For general information on how to contribute see
<https://isaac-orbit.github.io/orbit/source/refs/contributing.html>.
| 388 | Markdown | 42.222218 | 110 | 0.81701 |
NVIDIA-Omniverse/orbit/CONTRIBUTORS.md | # Orbit Developers and Contributors
This is the official list of Orbit Project developers and contributors.
To see the full list of contributors, please check the revision history in the source control.
Guidelines for modifications:
* Please keep the lists sorted alphabetically.
* Names should be added to this file as: *individual names* or *organizations*.
* E-mail addresses are tracked elsewhere to avoid spam.
## Developers
* Boston Dynamics AI Institute, Inc.
* ETH Zurich
* NVIDIA Corporation & Affiliates
* University of Toronto
---
* David Hoeller
* Farbod Farshidian
* Hunter Hansen
* James Smith
* **Mayank Mittal** (maintainer)
* Nikita Rudin
* Pascal Roth
## Contributors
* Anton Bjørndahl Mortensen
* Alice Zhou
* Andrej Orsula
* Antonio Serrano-Muñoz
* Arjun Bhardwaj
* Calvin Yu
* Chenyu Yang
* Jia Lin Yuan
* Jingzhou Liu
* Kourosh Darvish
* Qinxi Yu
* René Zurbrügg
* Ritvik Singh
* Rosario Scalise
* Shafeef Omar
* Vladimir Fokow
## Acknowledgements
* Ajay Mandlekar
* Animesh Garg
* Buck Babich
* Gavriel State
* Hammad Mazhar
* Marco Hutter
* Yunrong Guo
| 1,089 | Markdown | 17.793103 | 94 | 0.757576 |
NVIDIA-Omniverse/orbit/README.md | 
---
# Orbit
[](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html)
[](https://docs.python.org/3/whatsnew/3.10.html)
[](https://releases.ubuntu.com/20.04/)
[](https://pre-commit.com/)
[](https://isaac-orbit.github.io/orbit)
[](https://opensource.org/licenses/BSD-3-Clause)
<!-- TODO: Replace docs status with workflow badge? Link: https://github.com/isaac-orbit/orbit/actions/workflows/docs.yaml/badge.svg -->
**Orbit** is a unified and modular framework for robot learning that aims to simplify common workflows
in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon
[NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) to leverage the latest
simulation capabilities for photo-realistic scenes and fast and accurate simulation.
Please refer to our [documentation page](https://isaac-orbit.github.io/orbit) to learn more about the
installation steps, features, tutorials, and how to setup your own project with Orbit.
## 🎉 Announcement (22.12.2023)
We're excited to announce merging of our latest development branch into the main branch! This update introduces
several improvements and fixes to enhance the modularity and user-friendliness of the framework. We have added
several new environments, especially for legged locomotion, and are in the process of adding new environments.
Feel free to explore the latest changes and updates. We appreciate your ongoing support and contributions!
For more details, please check the post here: [#106](https://github.com/NVIDIA-Omniverse/Orbit/discussions/106)
## Contributing to Orbit
We wholeheartedly welcome contributions from the community to make this framework mature and useful for everyone.
These may happen as bug reports, feature requests, or code contributions. For details, please check our
[contribution guidelines](https://isaac-orbit.github.io/orbit/source/refs/contributing.html).
## Troubleshooting
Please see the [troubleshooting](https://isaac-orbit.github.io/orbit/source/refs/troubleshooting.html) section for
common fixes or [submit an issue](https://github.com/NVIDIA-Omniverse/orbit/issues).
For issues related to Isaac Sim, we recommend checking its [documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-autonomous-machines/isaac/67).
## Support
* Please use GitHub [Discussions](https://github.com/NVIDIA-Omniverse/Orbit/discussions) for discussing ideas, asking questions, and requests for new features.
* Github [Issues](https://github.com/NVIDIA-Omniverse/orbit/issues) should only be used to track executable pieces of work with a definite scope and a clear deliverable. These can be fixing bugs, documentation issues, new features, or general updates.
## Acknowledgement
NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).
Orbit framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
## Citing
If you use this framework in your work, please cite [this paper](https://arxiv.org/abs/2301.04195):
```text
@article{mittal2023orbit,
author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
journal={IEEE Robotics and Automation Letters},
title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
year={2023},
volume={8},
number={6},
pages={3740-3747},
doi={10.1109/LRA.2023.3270034}
}
```
| 4,545 | Markdown | 59.613333 | 304 | 0.777558 |
NVIDIA-Omniverse/orbit/tools/tests_to_skip.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# The following tests are skipped by run_tests.py
TESTS_TO_SKIP = [
# orbit
"test_argparser_launch.py", # app.close issue
"test_env_var_launch.py", # app.close issue
"test_kwarg_launch.py", # app.close issue
"test_differential_ik.py", # Failing
# orbit_tasks
"test_data_collector.py", # Failing
"test_record_video.py", # Failing
"test_rsl_rl_wrapper.py", # Timing out (10 minutes)
"test_sb3_wrapper.py", # Timing out (10 minutes)
]
| 603 | Python | 30.789472 | 56 | 0.660033 |
NVIDIA-Omniverse/orbit/tools/run_all_tests.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""A runner script for all the tests within source directory.
.. code-block:: bash
./orbit.sh -p tools/run_all_tests.py
# for dry run
./orbit.sh -p tools/run_all_tests.py --discover_only
# for quiet run
./orbit.sh -p tools/run_all_tests.py --quiet
# for increasing timeout (default is 600 seconds)
./orbit.sh -p tools/run_all_tests.py --timeout 1000
"""
from __future__ import annotations
import argparse
import logging
import os
import subprocess
import sys
import time
from datetime import datetime
from pathlib import Path
from prettytable import PrettyTable
# Tests to skip
from tests_to_skip import TESTS_TO_SKIP
ORBIT_PATH = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
"""Path to the root directory of Orbit repository."""
def parse_args() -> argparse.Namespace:
"""Parse command line arguments."""
parser = argparse.ArgumentParser(description="Run all tests under current directory.")
# add arguments
parser.add_argument(
"--skip_tests",
default="",
help="Space separated list of tests to skip in addition to those in tests_to_skip.py.",
type=str,
nargs="*",
)
# configure default test directory (source directory)
default_test_dir = os.path.join(ORBIT_PATH, "source")
parser.add_argument(
"--test_dir", type=str, default=default_test_dir, help="Path to the directory containing the tests."
)
# configure default logging path based on time stamp
log_file_name = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + ".log"
default_log_path = os.path.join(ORBIT_PATH, "logs", "test_results", log_file_name)
parser.add_argument(
"--log_path", type=str, default=default_log_path, help="Path to the log file to store the results in."
)
parser.add_argument("--discover_only", action="store_true", help="Only discover and print tests, don't run them.")
parser.add_argument("--quiet", action="store_true", help="Don't print to console, only log to file.")
parser.add_argument("--timeout", type=int, default=600, help="Timeout for each test in seconds.")
# parse arguments
args = parser.parse_args()
return args
def test_all(
test_dir: str,
tests_to_skip: list[str],
log_path: str,
timeout: float = 600.0,
discover_only: bool = False,
quiet: bool = False,
) -> bool:
"""Run all tests under the given directory.
Args:
test_dir: Path to the directory containing the tests.
tests_to_skip: List of tests to skip.
log_path: Path to the log file to store the results in.
timeout: Timeout for each test in seconds. Defaults to 600 seconds (10 minutes).
discover_only: If True, only discover and print the tests without running them. Defaults to False.
quiet: If False, print the output of the tests to the terminal console (in addition to the log file).
Defaults to False.
Returns:
True if all un-skipped tests pass or `discover_only` is True. Otherwise, False.
Raises:
ValueError: If any test to skip is not found under the given `test_dir`.
"""
# Create the log directory if it doesn't exist
os.makedirs(os.path.dirname(log_path), exist_ok=True)
# Add file handler to log to file
logging_handlers = [logging.FileHandler(log_path)]
# We also want to print to console
if not quiet:
logging_handlers.append(logging.StreamHandler())
# Set up logger
logging.basicConfig(level=logging.INFO, format="%(message)s", handlers=logging_handlers)
# Discover all tests under current directory
all_test_paths = [str(path) for path in Path(test_dir).resolve().rglob("*test_*.py")]
skipped_test_paths = []
test_paths = []
# Check that all tests to skip are actually in the tests
for test_to_skip in tests_to_skip:
for test_path in all_test_paths:
if test_to_skip in test_path:
break
else:
raise ValueError(f"Test to skip '{test_to_skip}' not found in tests.")
# Remove tests to skip from the list of tests to run
if len(tests_to_skip) != 0:
for test_path in all_test_paths:
if any([test_to_skip in test_path for test_to_skip in tests_to_skip]):
skipped_test_paths.append(test_path)
else:
test_paths.append(test_path)
else:
test_paths = all_test_paths
# Sort test paths so they're always in the same order
all_test_paths.sort()
test_paths.sort()
skipped_test_paths.sort()
# Print tests to be run
logging.info("\n" + "=" * 60 + "\n")
logging.info(f"The following {len(all_test_paths)} tests were found:")
for i, test_path in enumerate(all_test_paths):
logging.info(f"{i + 1:02d}: {test_path}")
logging.info("\n" + "=" * 60 + "\n")
logging.info(f"The following {len(skipped_test_paths)} tests are marked to be skipped:")
for i, test_path in enumerate(skipped_test_paths):
logging.info(f"{i + 1:02d}: {test_path}")
logging.info("\n" + "=" * 60 + "\n")
# Exit if only discovering tests
if discover_only:
return True
results = {}
# Run each script and store results
for test_path in test_paths:
results[test_path] = {}
before = time.time()
logging.info("\n" + "-" * 60 + "\n")
logging.info(f"[INFO] Running '{test_path}'\n")
try:
completed_process = subprocess.run(
[sys.executable, test_path], check=True, capture_output=True, timeout=timeout
)
except subprocess.TimeoutExpired as e:
logging.error(f"Timeout occurred: {e}")
result = "TIMEDOUT"
stdout = e.stdout
stderr = e.stderr
except subprocess.CalledProcessError as e:
# When check=True is passed to subprocess.run() above, CalledProcessError is raised if the process returns a
# non-zero exit code. The caveat is returncode is not correctly updated in this case, so we simply
# catch the exception and set this test as FAILED
result = "FAILED"
stdout = e.stdout
stderr = e.stderr
except Exception as e:
logging.error(f"Unexpected exception {e}. Please report this issue on the repository.")
result = "FAILED"
stdout = e.stdout
stderr = e.stderr
else:
# Should only get here if the process ran successfully, e.g. no exceptions were raised
# but we still check the returncode just in case
result = "PASSED" if completed_process.returncode == 0 else "FAILED"
stdout = completed_process.stdout
stderr = completed_process.stderr
after = time.time()
time_elapsed = after - before
# Decode stdout and stderr and write to file and print to console if desired
stdout_str = stdout.decode("utf-8") if stdout is not None else ""
stderr_str = stderr.decode("utf-8") if stderr is not None else ""
# Write to log file
logging.info(stdout_str)
logging.info(stderr_str)
logging.info(f"[INFO] Time elapsed: {time_elapsed:.2f} s")
logging.info(f"[INFO] Result '{test_path}': {result}")
# Collect results
results[test_path]["time_elapsed"] = time_elapsed
results[test_path]["result"] = result
# Calculate the number and percentage of passing tests
num_tests = len(all_test_paths)
num_passing = len([test_path for test_path in test_paths if results[test_path]["result"] == "PASSED"])
num_failing = len([test_path for test_path in test_paths if results[test_path]["result"] == "FAILED"])
num_timing_out = len([test_path for test_path in test_paths if results[test_path]["result"] == "TIMEDOUT"])
num_skipped = len(skipped_test_paths)
if num_tests == 0:
passing_percentage = 100
else:
passing_percentage = (num_passing + num_skipped) / num_tests * 100
# Print summaries of test results
summary_str = "\n\n"
summary_str += "===================\n"
summary_str += "Test Result Summary\n"
summary_str += "===================\n"
summary_str += f"Total: {num_tests}\n"
summary_str += f"Passing: {num_passing}\n"
summary_str += f"Failing: {num_failing}\n"
summary_str += f"Skipped: {num_skipped}\n"
summary_str += f"Timing Out: {num_timing_out}\n"
summary_str += f"Passing Percentage: {passing_percentage:.2f}%\n"
# Print time elapsed in hours, minutes, seconds
total_time = sum([results[test_path]["time_elapsed"] for test_path in test_paths])
summary_str += f"Total Time Elapsed: {total_time // 3600}h"
summary_str += f"{total_time // 60 % 60}m"
summary_str += f"{total_time % 60:.2f}s"
summary_str += "\n\n=======================\n"
summary_str += "Per Test Result Summary\n"
summary_str += "=======================\n"
# Construct table of results per test
per_test_result_table = PrettyTable(field_names=["Test Path", "Result", "Time (s)"])
per_test_result_table.align["Test Path"] = "l"
per_test_result_table.align["Time (s)"] = "r"
for test_path in test_paths:
per_test_result_table.add_row(
[test_path, results[test_path]["result"], f"{results[test_path]['time_elapsed']:0.2f}"]
)
for test_path in skipped_test_paths:
per_test_result_table.add_row([test_path, "SKIPPED", "N/A"])
summary_str += per_test_result_table.get_string()
# Print summary to console and log file
logging.info(summary_str)
# Only count failing and timing out tests towards failure
return num_failing + num_timing_out == 0
if __name__ == "__main__":
# parse command line arguments
args = parse_args()
# add tests to skip to the list of tests to skip
tests_to_skip = TESTS_TO_SKIP
tests_to_skip += args.skip_tests
# run all tests
test_success = test_all(
test_dir=args.test_dir,
tests_to_skip=tests_to_skip,
log_path=args.log_path,
timeout=args.timeout,
discover_only=args.discover_only,
quiet=args.quiet,
)
# update exit status based on all tests passing or not
if not test_success:
exit(1)
| 10,468 | Python | 36.256228 | 120 | 0.62629 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/setup.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Installation script for the 'omni.isaac.orbit_tasks' python package."""
import itertools
import os
import toml
from setuptools import setup
# Obtain the extension data from the extension.toml file
EXTENSION_PATH = os.path.dirname(os.path.realpath(__file__))
# Read the extension.toml file
EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extension.toml"))
# Minimum dependencies required prior to installation
INSTALL_REQUIRES = [
# generic
"numpy",
"torch==2.0.1",
"torchvision>=0.14.1", # ensure compatibility with torch 1.13.1
"protobuf>=3.20.2",
# data collection
"h5py",
# basic logger
"tensorboard",
# video recording
"moviepy",
]
# Extra dependencies for RL agents
EXTRAS_REQUIRE = {
"sb3": ["stable-baselines3>=2.0"],
"skrl": ["skrl>=1.1.0"],
"rl_games": ["rl-games==1.6.1", "gym"], # rl-games still needs gym :(
"rsl_rl": ["rsl_rl@git+https://github.com/leggedrobotics/rsl_rl.git"],
"robomimic": ["robomimic@git+https://github.com/ARISE-Initiative/robomimic.git"],
}
# cumulation of all extra-requires
EXTRAS_REQUIRE["all"] = list(itertools.chain.from_iterable(EXTRAS_REQUIRE.values()))
# Installation operation
setup(
name="omni-isaac-orbit_tasks",
author="ORBIT Project Developers",
maintainer="Mayank Mittal",
maintainer_email="[email protected]",
url=EXTENSION_TOML_DATA["package"]["repository"],
version=EXTENSION_TOML_DATA["package"]["version"],
description=EXTENSION_TOML_DATA["package"]["description"],
keywords=EXTENSION_TOML_DATA["package"]["keywords"],
include_package_data=True,
python_requires=">=3.10",
install_requires=INSTALL_REQUIRES,
extras_require=EXTRAS_REQUIRE,
packages=["omni.isaac.orbit_tasks"],
classifiers=[
"Natural Language :: English",
"Programming Language :: Python :: 3.10",
"Isaac Sim :: 2023.1.0-hotfix.1",
"Isaac Sim :: 2023.1.1",
],
zip_safe=False,
)
| 2,113 | Python | 29.637681 | 89 | 0.67345 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/test/test_environments.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch the simulator
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
import torch
import unittest
import omni.usd
from omni.isaac.orbit.envs import RLTaskEnv, RLTaskEnvCfg
import omni.isaac.orbit_tasks # noqa: F401
from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg
class TestEnvironments(unittest.TestCase):
"""Test cases for all registered environments."""
@classmethod
def setUpClass(cls):
# acquire all Isaac environments names
cls.registered_tasks = list()
for task_spec in gym.registry.values():
if "Isaac" in task_spec.id:
cls.registered_tasks.append(task_spec.id)
# sort environments by name
cls.registered_tasks.sort()
# print all existing task names
print(">>> All registered environments:", cls.registered_tasks)
"""
Test fixtures.
"""
def test_multiple_instances_gpu(self):
"""Run all environments with multiple instances and check environments return valid signals."""
# common parameters
num_envs = 32
use_gpu = True
# iterate over all registered environments
for task_name in self.registered_tasks:
print(f">>> Running test for environment: {task_name}")
# check environment
self._check_random_actions(task_name, use_gpu, num_envs, num_steps=100)
# close the environment
print(f">>> Closing environment: {task_name}")
print("-" * 80)
def test_single_instance_gpu(self):
"""Run all environments with single instance and check environments return valid signals."""
# common parameters
num_envs = 1
use_gpu = True
# iterate over all registered environments
for task_name in self.registered_tasks:
print(f">>> Running test for environment: {task_name}")
# check environment
self._check_random_actions(task_name, use_gpu, num_envs, num_steps=100)
# close the environment
print(f">>> Closing environment: {task_name}")
print("-" * 80)
"""
Helper functions.
"""
def _check_random_actions(self, task_name: str, use_gpu: bool, num_envs: int, num_steps: int = 1000):
"""Run random actions and check environments return valid signals."""
# create a new stage
omni.usd.get_context().new_stage()
# parse configuration
env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=use_gpu, num_envs=num_envs)
# create environment
env: RLTaskEnv = gym.make(task_name, cfg=env_cfg)
# reset environment
obs, _ = env.reset()
# check signal
self.assertTrue(self._check_valid_tensor(obs))
# simulate environment for num_steps steps
with torch.inference_mode():
for _ in range(num_steps):
# sample actions from -1 to 1
actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
# apply actions
transition = env.step(actions)
# check signals
for data in transition:
self.assertTrue(self._check_valid_tensor(data), msg=f"Invalid data: {data}")
# close the environment
env.close()
@staticmethod
def _check_valid_tensor(data: torch.Tensor | dict) -> bool:
"""Checks if given data does not have corrupted values.
Args:
data: Data buffer.
Returns:
True if the data is valid.
"""
if isinstance(data, torch.Tensor):
return not torch.any(torch.isnan(data))
elif isinstance(data, dict):
valid_tensor = True
for value in data.values():
if isinstance(value, dict):
valid_tensor &= TestEnvironments._check_valid_tensor(value)
elif isinstance(value, torch.Tensor):
valid_tensor &= not torch.any(torch.isnan(value))
return valid_tensor
else:
raise ValueError(f"Input data of invalid type: {type(data)}.")
if __name__ == "__main__":
run_tests()
| 4,563 | Python | 32.807407 | 105 | 0.608372 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/test/test_data_collector.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch the simulator
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import os
import torch
import unittest
from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector
class TestRobomimicDataCollector(unittest.TestCase):
"""Test dataset flushing behavior of robomimic data collector."""
def test_basic_flushing(self):
"""Adds random data into the collector and checks saving of the data."""
# name of the environment (needed by robomimic)
task_name = "My-Task-v0"
# specify directory for logging experiments
test_dir = os.path.dirname(os.path.abspath(__file__))
log_dir = os.path.join(test_dir, "output", "demos")
# name of the file to save data
filename = "hdf_dataset.hdf5"
# number of episodes to collect
num_demos = 10
# number of environments to simulate
num_envs = 4
# create data-collector
collector_interface = RobomimicDataCollector(task_name, log_dir, filename, num_demos)
# reset the collector
collector_interface.reset()
while not collector_interface.is_stopped():
# generate random data to store
# -- obs
obs = {"joint_pos": torch.randn(num_envs, 7), "joint_vel": torch.randn(num_envs, 7)}
# -- actions
actions = torch.randn(num_envs, 7)
# -- next obs
next_obs = {"joint_pos": torch.randn(num_envs, 7), "joint_vel": torch.randn(num_envs, 7)}
# -- rewards
rewards = torch.randn(num_envs)
# -- dones
dones = torch.rand(num_envs) > 0.5
# store signals
# -- obs
for key, value in obs.items():
collector_interface.add(f"obs/{key}", value)
# -- actions
collector_interface.add("actions", actions)
# -- next_obs
for key, value in next_obs.items():
collector_interface.add(f"next_obs/{key}", value.cpu().numpy())
# -- rewards
collector_interface.add("rewards", rewards)
# -- dones
collector_interface.add("dones", dones)
# flush data from collector for successful environments
# note: in this case we flush all the time
reset_env_ids = dones.nonzero(as_tuple=False).squeeze(-1)
collector_interface.flush(reset_env_ids)
# close collector
collector_interface.close()
# TODO: Add inspection of the saved dataset as part of the test.
if __name__ == "__main__":
run_tests()
| 2,942 | Python | 32.443181 | 101 | 0.604351 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/test/test_record_video.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch the simulator
app_launcher = AppLauncher(headless=True, offscreen_render=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
import os
import torch
import unittest
import omni.usd
from omni.isaac.orbit.envs import RLTaskEnv, RLTaskEnvCfg
import omni.isaac.orbit_tasks # noqa: F401
from omni.isaac.orbit_tasks.utils import parse_env_cfg
class TestRecordVideoWrapper(unittest.TestCase):
"""Test recording videos using the RecordVideo wrapper."""
@classmethod
def setUpClass(cls):
# acquire all Isaac environments names
cls.registered_tasks = list()
for task_spec in gym.registry.values():
if "Isaac" in task_spec.id:
cls.registered_tasks.append(task_spec.id)
# sort environments by name
cls.registered_tasks.sort()
# print all existing task names
print(">>> All registered environments:", cls.registered_tasks)
# directory to save videos
cls.videos_dir = os.path.join(os.path.dirname(__file__), "output", "videos")
def setUp(self) -> None:
# common parameters
self.num_envs = 16
self.use_gpu = True
# video parameters
self.step_trigger = lambda step: step % 225 == 0
self.video_length = 200
def test_record_video(self):
"""Run random actions agent with recording of videos."""
for task_name in self.registered_tasks:
print(f">>> Running test for environment: {task_name}")
# create a new stage
omni.usd.get_context().new_stage()
# parse configuration
env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
# create environment
env: RLTaskEnv = gym.make(task_name, cfg=env_cfg, render_mode="rgb_array")
# directory to save videos
videos_dir = os.path.join(self.videos_dir, task_name)
# wrap environment to record videos
env = gym.wrappers.RecordVideo(
env, videos_dir, step_trigger=self.step_trigger, video_length=self.video_length, disable_logger=True
)
# reset environment
env.reset()
# simulate environment
with torch.inference_mode():
for _ in range(500):
# compute zero actions
actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
# apply actions
_ = env.step(actions)
# close the simulator
env.close()
if __name__ == "__main__":
run_tests()
| 2,956 | Python | 31.141304 | 116 | 0.618065 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/test/wrappers/test_rsl_rl_wrapper.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch the simulator
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
import torch
import unittest
import omni.usd
from omni.isaac.orbit.envs import RLTaskEnvCfg
import omni.isaac.orbit_tasks # noqa: F401
from omni.isaac.orbit_tasks.utils.parse_cfg import parse_env_cfg
from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper
class TestRslRlVecEnvWrapper(unittest.TestCase):
"""Test that RSL-RL VecEnv wrapper works as expected."""
@classmethod
def setUpClass(cls):
# acquire all Isaac environments names
cls.registered_tasks = list()
for task_spec in gym.registry.values():
if "Isaac" in task_spec.id:
cls.registered_tasks.append(task_spec.id)
# sort environments by name
cls.registered_tasks.sort()
# only pick the first three environments to test
cls.registered_tasks = cls.registered_tasks[:3]
# print all existing task names
print(">>> All registered environments:", cls.registered_tasks)
def setUp(self) -> None:
# common parameters
self.num_envs = 64
self.use_gpu = True
def test_random_actions(self):
"""Run random actions and check environments return valid signals."""
for task_name in self.registered_tasks:
print(f">>> Running test for environment: {task_name}")
# create a new stage
omni.usd.get_context().new_stage()
# parse configuration
env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
# create environment
env = gym.make(task_name, cfg=env_cfg)
# wrap environment
env = RslRlVecEnvWrapper(env)
# reset environment
obs, extras = env.reset()
# check signal
self.assertTrue(self._check_valid_tensor(obs))
self.assertTrue(self._check_valid_tensor(extras))
# simulate environment for 1000 steps
with torch.inference_mode():
for _ in range(1000):
# sample actions from -1 to 1
actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
# apply actions
transition = env.step(actions)
# check signals
for data in transition:
self.assertTrue(self._check_valid_tensor(data), msg=f"Invalid data: {data}")
# close the environment
print(f">>> Closing environment: {task_name}")
env.close()
def test_no_time_outs(self):
"""Check that environments with finite horizon do not send time-out signals."""
for task_name in self.registered_tasks[0:5]:
print(f">>> Running test for environment: {task_name}")
# create a new stage
omni.usd.get_context().new_stage()
# parse configuration
env_cfg: RLTaskEnvCfg = parse_env_cfg(task_name, use_gpu=self.use_gpu, num_envs=self.num_envs)
# change to finite horizon
env_cfg.is_finite_horizon = True
# create environment
env = gym.make(task_name, cfg=env_cfg)
# wrap environment
env = RslRlVecEnvWrapper(env)
# reset environment
_, extras = env.reset()
# check signal
self.assertNotIn("time_outs", extras, msg="Time-out signal found in finite horizon environment.")
# simulate environment for 10 steps
with torch.inference_mode():
for _ in range(10):
# sample actions from -1 to 1
actions = 2 * torch.rand(env.action_space.shape, device=env.unwrapped.device) - 1
# apply actions
extras = env.step(actions)[-1]
# check signals
self.assertNotIn("time_outs", extras, msg="Time-out signal found in finite horizon environment.")
# close the environment
print(f">>> Closing environment: {task_name}")
env.close()
"""
Helper functions.
"""
@staticmethod
def _check_valid_tensor(data: torch.Tensor | dict) -> bool:
"""Checks if given data does not have corrupted values.
Args:
data: Data buffer.
Returns:
True if the data is valid.
"""
if isinstance(data, torch.Tensor):
return not torch.any(torch.isnan(data))
elif isinstance(data, dict):
valid_tensor = True
for value in data.values():
if isinstance(value, dict):
valid_tensor &= TestRslRlVecEnvWrapper._check_valid_tensor(value)
elif isinstance(value, torch.Tensor):
valid_tensor &= not torch.any(torch.isnan(value))
return valid_tensor
else:
raise ValueError(f"Input data of invalid type: {type(data)}.")
if __name__ == "__main__":
run_tests()
| 5,464 | Python | 34.487013 | 117 | 0.587299 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/config/extension.toml | [package]
# Note: Semantic Versioning is used: https://semver.org/
version = "0.6.0"
# Description
title = "ORBIT Environments"
description="Extension containing suite of environments for robot learning."
readme = "docs/README.md"
repository = "https://github.com/NVIDIA-Omniverse/Orbit"
category = "robotics"
keywords = ["robotics", "rl", "il", "learning"]
[dependencies]
"omni.isaac.orbit" = {}
"omni.isaac.orbit_assets" = {}
"omni.isaac.core" = {}
"omni.isaac.gym" = {}
"omni.replicator.isaac" = {}
[[python.module]]
name = "omni.isaac.orbit_tasks"
| 557 | TOML | 23.260869 | 76 | 0.696589 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Classic environments for control.
These environments are based on the MuJoCo environments provided by OpenAI.
Reference:
https://github.com/openai/gym/tree/master/gym/envs/mujoco
"""
| 315 | Python | 23.307691 | 75 | 0.75873 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/ant_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.actuators import ImplicitActuatorCfg
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.terrains import TerrainImporterCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
import omni.isaac.orbit_tasks.classic.humanoid.mdp as mdp
##
# Scene definition
##
@configclass
class MySceneCfg(InteractiveSceneCfg):
"""Configuration for the terrain scene with an ant robot."""
# terrain
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="plane",
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(
friction_combine_mode="average",
restitution_combine_mode="average",
static_friction=1.0,
dynamic_friction=1.0,
restitution=0.0,
),
debug_vis=False,
)
# robot
robot = ArticulationCfg(
prim_path="{ENV_REGEX_NS}/Robot",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Ant/ant_instanceable.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=10.0,
enable_gyroscopic_forces=True,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False,
solver_position_iteration_count=4,
solver_velocity_iteration_count=0,
sleep_threshold=0.005,
stabilization_threshold=0.001,
),
copy_from_source=False,
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 0.5),
joint_pos={".*": 0.0},
),
actuators={
"body": ImplicitActuatorCfg(
joint_names_expr=[".*"],
stiffness=0.0,
damping=0.0,
),
},
)
# lights
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
# no commands for this MDP
null = mdp.NullCommandCfg()
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
joint_effort = mdp.JointEffortActionCfg(asset_name="robot", joint_names=[".*"], scale=7.5)
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for the policy."""
base_height = ObsTerm(func=mdp.base_pos_z)
base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
base_yaw_roll = ObsTerm(func=mdp.base_yaw_roll)
base_angle_to_target = ObsTerm(func=mdp.base_angle_to_target, params={"target_pos": (1000.0, 0.0, 0.0)})
base_up_proj = ObsTerm(func=mdp.base_up_proj)
base_heading_proj = ObsTerm(func=mdp.base_heading_proj, params={"target_pos": (1000.0, 0.0, 0.0)})
joint_pos_norm = ObsTerm(func=mdp.joint_pos_norm)
joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel, scale=0.2)
feet_body_forces = ObsTerm(
func=mdp.body_incoming_wrench,
scale=0.1,
params={
"asset_cfg": SceneEntityCfg(
"robot", body_names=["front_left_foot", "front_right_foot", "left_back_foot", "right_back_foot"]
)
},
)
actions = ObsTerm(func=mdp.last_action)
def __post_init__(self):
self.enable_corruption = False
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
reset_base = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={"pose_range": {}, "velocity_range": {}},
)
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_offset,
mode="reset",
params={
"position_range": (-0.2, 0.2),
"velocity_range": (-0.1, 0.1),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# (1) Reward for moving forward
progress = RewTerm(func=mdp.progress_reward, weight=1.0, params={"target_pos": (1000.0, 0.0, 0.0)})
# (2) Stay alive bonus
alive = RewTerm(func=mdp.is_alive, weight=0.5)
# (3) Reward for non-upright posture
upright = RewTerm(func=mdp.upright_posture_bonus, weight=0.1, params={"threshold": 0.93})
# (4) Reward for moving in the right direction
move_to_target = RewTerm(
func=mdp.move_to_target_bonus, weight=0.5, params={"threshold": 0.8, "target_pos": (1000.0, 0.0, 0.0)}
)
# (5) Penalty for large action commands
action_l2 = RewTerm(func=mdp.action_l2, weight=-0.005)
# (6) Penalty for energy consumption
energy = RewTerm(func=mdp.power_consumption, weight=-0.05, params={"gear_ratio": {".*": 15.0}})
# (7) Penalty for reaching close to joint limits
joint_limits = RewTerm(
func=mdp.joint_limits_penalty_ratio, weight=-0.1, params={"threshold": 0.99, "gear_ratio": {".*": 15.0}}
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
# (1) Terminate if the episode length is exceeded
time_out = DoneTerm(func=mdp.time_out, time_out=True)
# (2) Terminate if the robot falls
torso_height = DoneTerm(func=mdp.base_height, params={"minimum_height": 0.31})
@configclass
class CurriculumCfg:
"""Curriculum terms for the MDP."""
pass
@configclass
class AntEnvCfg(RLTaskEnvCfg):
"""Configuration for the MuJoCo-style Ant walking environment."""
# Scene settings
scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
curriculum: CurriculumCfg = CurriculumCfg()
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 16.0
# simulation settings
self.sim.dt = 1 / 120.0
self.sim.physx.bounce_threshold_velocity = 0.2
# default friction material
self.sim.physics_material.static_friction = 1.0
self.sim.physics_material.dynamic_friction = 1.0
self.sim.physics_material.restitution = 0.0
| 7,500 | Python | 31.055555 | 116 | 0.634667 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Ant locomotion environment (similar to OpenAI Gym Ant-v2).
"""
import gymnasium as gym
from . import agents, ant_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Ant-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": ant_env_cfg.AntEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.AntPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
)
| 776 | Python | 24.899999 | 79 | 0.653351 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/rsl_rl_ppo_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import (
RslRlOnPolicyRunnerCfg,
RslRlPpoActorCriticCfg,
RslRlPpoAlgorithmCfg,
)
@configclass
class AntPPORunnerCfg(RslRlOnPolicyRunnerCfg):
num_steps_per_env = 32
max_iterations = 1000
save_interval = 50
experiment_name = "ant"
empirical_normalization = False
policy = RslRlPpoActorCriticCfg(
init_noise_std=1.0,
actor_hidden_dims=[400, 200, 100],
critic_hidden_dims=[400, 200, 100],
activation="elu",
)
algorithm = RslRlPpoAlgorithmCfg(
value_loss_coef=1.0,
use_clipped_value_loss=True,
clip_param=0.2,
entropy_coef=0.0,
num_learning_epochs=5,
num_mini_batches=4,
learning_rate=5.0e-4,
schedule="adaptive",
gamma=0.99,
lam=0.95,
desired_kl=0.01,
max_grad_norm=1.0,
)
| 1,068 | Python | 24.45238 | 58 | 0.641386 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/skrl_ppo_cfg.yaml | seed: 42
# Models are instantiated using skrl's model instantiator utility
# https://skrl.readthedocs.io/en/develop/modules/skrl.utils.model_instantiators.html
models:
separate: False
policy: # see skrl.utils.model_instantiators.gaussian_model for parameter details
clip_actions: True
clip_log_std: True
initial_log_std: 0
min_log_std: -20.0
max_log_std: 2.0
input_shape: "Shape.STATES"
hiddens: [256, 128, 64]
hidden_activation: ["elu", "elu", "elu"]
output_shape: "Shape.ACTIONS"
output_activation: "tanh"
output_scale: 1.0
value: # see skrl.utils.model_instantiators.deterministic_model for parameter details
clip_actions: False
input_shape: "Shape.STATES"
hiddens: [256, 128, 64]
hidden_activation: ["elu", "elu", "elu"]
output_shape: "Shape.ONE"
output_activation: ""
output_scale: 1.0
# PPO agent configuration (field names are from PPO_DEFAULT_CONFIG)
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.ppo.html
agent:
rollouts: 16
learning_epochs: 8
mini_batches: 4
discount_factor: 0.99
lambda: 0.95
learning_rate: 3.e-4
learning_rate_scheduler: "KLAdaptiveLR"
learning_rate_scheduler_kwargs:
kl_threshold: 0.008
state_preprocessor: "RunningStandardScaler"
state_preprocessor_kwargs: null
value_preprocessor: "RunningStandardScaler"
value_preprocessor_kwargs: null
random_timesteps: 0
learning_starts: 0
grad_norm_clip: 1.0
ratio_clip: 0.2
value_clip: 0.2
clip_predicted_values: True
entropy_loss_scale: 0.0
value_loss_scale: 1.0
kl_threshold: 0
rewards_shaper_scale: 0.01
# logging and checkpoint
experiment:
directory: "ant"
experiment_name: ""
write_interval: 40
checkpoint_interval: 400
# Sequential trainer
# https://skrl.readthedocs.io/en/latest/modules/skrl.trainers.sequential.html
trainer:
timesteps: 8000
| 1,888 | YAML | 27.194029 | 88 | 0.710805 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/ant/agents/sb3_ppo_cfg.yaml | # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L161
seed: 42
n_timesteps: !!float 1e7
policy: 'MlpPolicy'
batch_size: 128
n_steps: 512
gamma: 0.99
gae_lambda: 0.9
n_epochs: 20
ent_coef: 0.0
sde_sample_freq: 4
max_grad_norm: 0.5
vf_coef: 0.5
learning_rate: !!float 3e-5
use_sde: True
clip_range: 0.4
policy_kwargs: "dict(
log_std_init=-1,
ortho_init=False,
activation_fn=nn.ReLU,
net_arch=dict(pi=[256, 256], vf=[256, 256])
)"
| 557 | YAML | 22.249999 | 93 | 0.597846 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Cartpole balancing environment.
"""
import gymnasium as gym
from . import agents
from .cartpole_env_cfg import CartpoleEnvCfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Cartpole-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": CartpoleEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.CartpolePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
)
| 784 | Python | 24.32258 | 79 | 0.667092 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/cartpole_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import math
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.utils import configclass
import omni.isaac.orbit_tasks.classic.cartpole.mdp as mdp
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.cartpole import CARTPOLE_CFG # isort:skip
##
# Scene definition
##
@configclass
class CartpoleSceneCfg(InteractiveSceneCfg):
"""Configuration for a cart-pole scene."""
# ground plane
ground = AssetBaseCfg(
prim_path="/World/ground",
spawn=sim_utils.GroundPlaneCfg(size=(100.0, 100.0)),
)
# cartpole
robot: ArticulationCfg = CARTPOLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# lights
dome_light = AssetBaseCfg(
prim_path="/World/DomeLight",
spawn=sim_utils.DomeLightCfg(color=(0.9, 0.9, 0.9), intensity=500.0),
)
distant_light = AssetBaseCfg(
prim_path="/World/DistantLight",
spawn=sim_utils.DistantLightCfg(color=(0.9, 0.9, 0.9), intensity=2500.0),
init_state=AssetBaseCfg.InitialStateCfg(rot=(0.738, 0.477, 0.477, 0.0)),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
# no commands for this MDP
null = mdp.NullCommandCfg()
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
joint_effort = mdp.JointEffortActionCfg(asset_name="robot", joint_names=["slider_to_cart"], scale=100.0)
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
# observation terms (order preserved)
joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel)
joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel)
def __post_init__(self) -> None:
self.enable_corruption = False
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
# reset
reset_cart_position = EventTerm(
func=mdp.reset_joints_by_offset,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]),
"position_range": (-1.0, 1.0),
"velocity_range": (-0.5, 0.5),
},
)
reset_pole_position = EventTerm(
func=mdp.reset_joints_by_offset,
mode="reset",
params={
"asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"]),
"position_range": (-0.25 * math.pi, 0.25 * math.pi),
"velocity_range": (-0.25 * math.pi, 0.25 * math.pi),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# (1) Constant running reward
alive = RewTerm(func=mdp.is_alive, weight=1.0)
# (2) Failure penalty
terminating = RewTerm(func=mdp.is_terminated, weight=-2.0)
# (3) Primary task: keep pole upright
pole_pos = RewTerm(
func=mdp.joint_pos_target_l2,
weight=-1.0,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"]), "target": 0.0},
)
# (4) Shaping tasks: lower cart velocity
cart_vel = RewTerm(
func=mdp.joint_vel_l1,
weight=-0.01,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"])},
)
# (5) Shaping tasks: lower pole angular velocity
pole_vel = RewTerm(
func=mdp.joint_vel_l1,
weight=-0.005,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"])},
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
# (1) Time out
time_out = DoneTerm(func=mdp.time_out, time_out=True)
# (2) Cart out of bounds
cart_out_of_bounds = DoneTerm(
func=mdp.joint_pos_manual_limit,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]), "bounds": (-3.0, 3.0)},
)
@configclass
class CurriculumCfg:
"""Configuration for the curriculum."""
pass
##
# Environment configuration
##
@configclass
class CartpoleEnvCfg(RLTaskEnvCfg):
"""Configuration for the locomotion velocity-tracking environment."""
# Scene settings
scene: CartpoleSceneCfg = CartpoleSceneCfg(num_envs=4096, env_spacing=4.0)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
events: EventCfg = EventCfg()
# MDP settings
curriculum: CurriculumCfg = CurriculumCfg()
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
# No command generator
commands: CommandsCfg = CommandsCfg()
# Post initialization
def __post_init__(self) -> None:
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 5
# viewer settings
self.viewer.eye = (8.0, 0.0, 5.0)
# simulation settings
self.sim.dt = 1 / 120
| 5,671 | Python | 26.803921 | 109 | 0.6535 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/sb3_ppo_cfg.yaml | # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L32
seed: 42
n_timesteps: !!float 1e6
policy: 'MlpPolicy'
n_steps: 16
batch_size: 4096
gae_lambda: 0.95
gamma: 0.99
n_epochs: 20
ent_coef: 0.01
learning_rate: !!float 3e-4
clip_range: !!float 0.2
policy_kwargs: "dict(
activation_fn=nn.ELU,
net_arch=[32, 32],
squash_output=False,
)"
vf_coef: 1.0
max_grad_norm: 1.0
| 475 | YAML | 21.666666 | 92 | 0.610526 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/agents/rl_games_ppo_cfg.yaml | params:
seed: 42
# environment wrapper clipping
env:
# added to the wrapper
clip_observations: 5.0
# can make custom wrapper?
clip_actions: 1.0
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
# doesn't have this fine grained control but made it close
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [32, 32]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: False # flag which sets whether to load the checkpoint
load_path: '' # path to the checkpoint to load
config:
name: cartpole
env_name: rlgpu
device: 'cuda:0'
device_name: 'cuda:0'
multi_gpu: False
ppo: True
mixed_precision: False
normalize_input: False
normalize_value: False
num_actors: -1 # configured from the script (based on num_envs)
reward_shaper:
scale_value: 1.0
normalize_advantage: False
gamma: 0.99
tau : 0.95
learning_rate: 3e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 20000
max_epochs: 150
save_best_after: 50
save_frequency: 25
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 16
minibatch_size: 8192
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_length: 4
bounds_loss_coef: 0.0001
| 1,648 | YAML | 19.873417 | 73 | 0.61165 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/cartpole/mdp/rewards.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import Articulation
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils.math import wrap_to_pi
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def joint_pos_target_l2(env: RLTaskEnv, target: float, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Penalize joint position deviation from a target value."""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# wrap the joint positions to (-pi, pi)
joint_pos = wrap_to_pi(asset.data.joint_pos[:, asset_cfg.joint_ids])
# compute the reward
return torch.sum(torch.square(joint_pos - target), dim=1)
| 907 | Python | 32.629628 | 98 | 0.742007 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Humanoid locomotion environment (similar to OpenAI Gym Humanoid-v2).
"""
import gymnasium as gym
from . import agents, humanoid_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Humanoid-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": humanoid_env_cfg.HumanoidEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_ppo_cfg.HumanoidPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"sb3_cfg_entry_point": f"{agents.__name__}:sb3_ppo_cfg.yaml",
},
)
| 811 | Python | 26.066666 | 79 | 0.668311 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/humanoid_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.actuators import ImplicitActuatorCfg
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.terrains import TerrainImporterCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
import omni.isaac.orbit_tasks.classic.humanoid.mdp as mdp
##
# Scene definition
##
@configclass
class MySceneCfg(InteractiveSceneCfg):
"""Configuration for the terrain scene with a humanoid robot."""
# terrain
terrain = TerrainImporterCfg(
prim_path="/World/ground",
terrain_type="plane",
collision_group=-1,
physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=1.0, dynamic_friction=1.0, restitution=0.0),
debug_vis=False,
)
# robot
robot = ArticulationCfg(
prim_path="{ENV_REGEX_NS}/Robot",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=None,
max_depenetration_velocity=10.0,
enable_gyroscopic_forces=True,
),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=True,
solver_position_iteration_count=4,
solver_velocity_iteration_count=0,
sleep_threshold=0.005,
stabilization_threshold=0.001,
),
copy_from_source=False,
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.0, 0.0, 1.34),
joint_pos={".*": 0.0},
),
actuators={
"body": ImplicitActuatorCfg(
joint_names_expr=[".*"],
stiffness={
".*_waist.*": 20.0,
".*_upper_arm.*": 10.0,
"pelvis": 10.0,
".*_lower_arm": 2.0,
".*_thigh:0": 10.0,
".*_thigh:1": 20.0,
".*_thigh:2": 10.0,
".*_shin": 5.0,
".*_foot.*": 2.0,
},
damping={
".*_waist.*": 5.0,
".*_upper_arm.*": 5.0,
"pelvis": 5.0,
".*_lower_arm": 1.0,
".*_thigh:0": 5.0,
".*_thigh:1": 5.0,
".*_thigh:2": 5.0,
".*_shin": 0.1,
".*_foot.*": 1.0,
},
),
},
)
# lights
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
# no commands for this MDP
null = mdp.NullCommandCfg()
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
joint_effort = mdp.JointEffortActionCfg(
asset_name="robot",
joint_names=[".*"],
scale={
".*_waist.*": 67.5,
".*_upper_arm.*": 67.5,
"pelvis": 67.5,
".*_lower_arm": 45.0,
".*_thigh:0": 45.0,
".*_thigh:1": 135.0,
".*_thigh:2": 45.0,
".*_shin": 90.0,
".*_foot.*": 22.5,
},
)
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for the policy."""
base_height = ObsTerm(func=mdp.base_pos_z)
base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
base_ang_vel = ObsTerm(func=mdp.base_ang_vel, scale=0.25)
base_yaw_roll = ObsTerm(func=mdp.base_yaw_roll)
base_angle_to_target = ObsTerm(func=mdp.base_angle_to_target, params={"target_pos": (1000.0, 0.0, 0.0)})
base_up_proj = ObsTerm(func=mdp.base_up_proj)
base_heading_proj = ObsTerm(func=mdp.base_heading_proj, params={"target_pos": (1000.0, 0.0, 0.0)})
joint_pos_norm = ObsTerm(func=mdp.joint_pos_norm)
joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel, scale=0.1)
feet_body_forces = ObsTerm(
func=mdp.body_incoming_wrench,
scale=0.01,
params={"asset_cfg": SceneEntityCfg("robot", body_names=["left_foot", "right_foot"])},
)
actions = ObsTerm(func=mdp.last_action)
def __post_init__(self):
self.enable_corruption = False
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
reset_base = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={"pose_range": {}, "velocity_range": {}},
)
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_offset,
mode="reset",
params={
"position_range": (-0.2, 0.2),
"velocity_range": (-0.1, 0.1),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# (1) Reward for moving forward
progress = RewTerm(func=mdp.progress_reward, weight=1.0, params={"target_pos": (1000.0, 0.0, 0.0)})
# (2) Stay alive bonus
alive = RewTerm(func=mdp.is_alive, weight=2.0)
# (3) Reward for non-upright posture
upright = RewTerm(func=mdp.upright_posture_bonus, weight=0.1, params={"threshold": 0.93})
# (4) Reward for moving in the right direction
move_to_target = RewTerm(
func=mdp.move_to_target_bonus, weight=0.5, params={"threshold": 0.8, "target_pos": (1000.0, 0.0, 0.0)}
)
# (5) Penalty for large action commands
action_l2 = RewTerm(func=mdp.action_l2, weight=-0.01)
# (6) Penalty for energy consumption
energy = RewTerm(
func=mdp.power_consumption,
weight=-0.005,
params={
"gear_ratio": {
".*_waist.*": 67.5,
".*_upper_arm.*": 67.5,
"pelvis": 67.5,
".*_lower_arm": 45.0,
".*_thigh:0": 45.0,
".*_thigh:1": 135.0,
".*_thigh:2": 45.0,
".*_shin": 90.0,
".*_foot.*": 22.5,
}
},
)
# (7) Penalty for reaching close to joint limits
joint_limits = RewTerm(
func=mdp.joint_limits_penalty_ratio,
weight=-0.25,
params={
"threshold": 0.98,
"gear_ratio": {
".*_waist.*": 67.5,
".*_upper_arm.*": 67.5,
"pelvis": 67.5,
".*_lower_arm": 45.0,
".*_thigh:0": 45.0,
".*_thigh:1": 135.0,
".*_thigh:2": 45.0,
".*_shin": 90.0,
".*_foot.*": 22.5,
},
},
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
# (1) Terminate if the episode length is exceeded
time_out = DoneTerm(func=mdp.time_out, time_out=True)
# (2) Terminate if the robot falls
torso_height = DoneTerm(func=mdp.base_height, params={"minimum_height": 0.8})
@configclass
class CurriculumCfg:
"""Curriculum terms for the MDP."""
pass
@configclass
class HumanoidEnvCfg(RLTaskEnvCfg):
"""Configuration for the MuJoCo-style Humanoid walking environment."""
# Scene settings
scene: MySceneCfg = MySceneCfg(num_envs=4096, env_spacing=5.0)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
curriculum: CurriculumCfg = CurriculumCfg()
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 16.0
# simulation settings
self.sim.dt = 1 / 120.0
self.sim.physx.bounce_threshold_velocity = 0.2
# default friction material
self.sim.physics_material.static_friction = 1.0
self.sim.physics_material.dynamic_friction = 1.0
self.sim.physics_material.restitution = 0.0
| 9,098 | Python | 30.484429 | 116 | 0.558474 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/agents/sb3_ppo_cfg.yaml | # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L245
seed: 42
policy: 'MlpPolicy'
n_timesteps: !!float 5e7
batch_size: 256
n_steps: 512
gamma: 0.99
learning_rate: !!float 2.5e-4
ent_coef: 0.0
clip_range: 0.2
n_epochs: 10
gae_lambda: 0.95
max_grad_norm: 1.0
vf_coef: 0.5
policy_kwargs: "dict(
log_std_init=-2,
ortho_init=False,
activation_fn=nn.ReLU,
net_arch=dict(pi=[256, 256], vf=[256, 256])
)"
| 527 | YAML | 22.999999 | 93 | 0.590133 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/rewards.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
import omni.isaac.orbit.utils.math as math_utils
import omni.isaac.orbit.utils.string as string_utils
from omni.isaac.orbit.assets import Articulation
from omni.isaac.orbit.managers import ManagerTermBase, RewardTermCfg, SceneEntityCfg
from . import observations as obs
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def upright_posture_bonus(
env: RLTaskEnv, threshold: float, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
) -> torch.Tensor:
"""Reward for maintaining an upright posture."""
up_proj = obs.base_up_proj(env, asset_cfg).squeeze(-1)
return (up_proj > threshold).float()
def move_to_target_bonus(
env: RLTaskEnv,
threshold: float,
target_pos: tuple[float, float, float],
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
) -> torch.Tensor:
"""Reward for moving to the target heading."""
heading_proj = obs.base_heading_proj(env, target_pos, asset_cfg).squeeze(-1)
return torch.where(heading_proj > threshold, 1.0, heading_proj / threshold)
class progress_reward(ManagerTermBase):
"""Reward for making progress towards the target."""
def __init__(self, env: RLTaskEnv, cfg: RewardTermCfg):
# initialize the base class
super().__init__(cfg, env)
# create history buffer
self.potentials = torch.zeros(env.num_envs, device=env.device)
self.prev_potentials = torch.zeros_like(self.potentials)
def reset(self, env_ids: torch.Tensor):
# extract the used quantities (to enable type-hinting)
asset: Articulation = self._env.scene["robot"]
# compute projection of current heading to desired heading vector
target_pos = torch.tensor(self.cfg.params["target_pos"], device=self.device)
to_target_pos = target_pos - asset.data.root_pos_w[env_ids, :3]
# reward terms
self.potentials[env_ids] = -torch.norm(to_target_pos, p=2, dim=-1) / self._env.step_dt
self.prev_potentials[env_ids] = self.potentials[env_ids]
def __call__(
self,
env: RLTaskEnv,
target_pos: tuple[float, float, float],
asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
) -> torch.Tensor:
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# compute vector to target
target_pos = torch.tensor(target_pos, device=env.device)
to_target_pos = target_pos - asset.data.root_pos_w[:, :3]
to_target_pos[:, 2] = 0.0
# update history buffer and compute new potential
self.prev_potentials[:] = self.potentials[:]
self.potentials[:] = -torch.norm(to_target_pos, p=2, dim=-1) / env.step_dt
return self.potentials - self.prev_potentials
class joint_limits_penalty_ratio(ManagerTermBase):
"""Penalty for violating joint limits weighted by the gear ratio."""
def __init__(self, env: RLTaskEnv, cfg: RewardTermCfg):
# add default argument
if "asset_cfg" not in cfg.params:
cfg.params["asset_cfg"] = SceneEntityCfg("robot")
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[cfg.params["asset_cfg"].name]
# resolve the gear ratio for each joint
self.gear_ratio = torch.ones(env.num_envs, asset.num_joints, device=env.device)
index_list, _, value_list = string_utils.resolve_matching_names_values(
cfg.params["gear_ratio"], asset.joint_names
)
self.gear_ratio[:, index_list] = torch.tensor(value_list, device=env.device)
self.gear_ratio_scaled = self.gear_ratio / torch.max(self.gear_ratio)
def __call__(
self, env: RLTaskEnv, threshold: float, gear_ratio: dict[str, float], asset_cfg: SceneEntityCfg
) -> torch.Tensor:
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# compute the penalty over normalized joints
joint_pos_scaled = math_utils.scale_transform(
asset.data.joint_pos, asset.data.soft_joint_pos_limits[..., 0], asset.data.soft_joint_pos_limits[..., 1]
)
# scale the violation amount by the gear ratio
violation_amount = (torch.abs(joint_pos_scaled) - threshold) / (1 - threshold)
violation_amount = violation_amount * self.gear_ratio_scaled
return torch.sum((torch.abs(joint_pos_scaled) > threshold) * violation_amount, dim=-1)
class power_consumption(ManagerTermBase):
"""Penalty for the power consumed by the actions to the environment.
This is computed as commanded torque times the joint velocity.
"""
def __init__(self, env: RLTaskEnv, cfg: RewardTermCfg):
# add default argument
if "asset_cfg" not in cfg.params:
cfg.params["asset_cfg"] = SceneEntityCfg("robot")
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[cfg.params["asset_cfg"].name]
# resolve the gear ratio for each joint
self.gear_ratio = torch.ones(env.num_envs, asset.num_joints, device=env.device)
index_list, _, value_list = string_utils.resolve_matching_names_values(
cfg.params["gear_ratio"], asset.joint_names
)
self.gear_ratio[:, index_list] = torch.tensor(value_list, device=env.device)
self.gear_ratio_scaled = self.gear_ratio / torch.max(self.gear_ratio)
def __call__(self, env: RLTaskEnv, gear_ratio: dict[str, float], asset_cfg: SceneEntityCfg) -> torch.Tensor:
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# return power = torque * velocity (here actions: joint torques)
return torch.sum(torch.abs(env.action_manager.action * asset.data.joint_vel * self.gear_ratio_scaled), dim=-1)
| 6,069 | Python | 42.985507 | 118 | 0.66782 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/classic/humanoid/mdp/observations.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
import omni.isaac.orbit.utils.math as math_utils
from omni.isaac.orbit.assets import Articulation
from omni.isaac.orbit.managers import SceneEntityCfg
if TYPE_CHECKING:
from omni.isaac.orbit.envs import BaseEnv
def base_yaw_roll(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
"""Yaw and roll of the base in the simulation world frame."""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# extract euler angles (in world frame)
roll, _, yaw = math_utils.euler_xyz_from_quat(asset.data.root_quat_w)
# normalize angle to [-pi, pi]
roll = torch.atan2(torch.sin(roll), torch.cos(roll))
yaw = torch.atan2(torch.sin(yaw), torch.cos(yaw))
return torch.cat((yaw.unsqueeze(-1), roll.unsqueeze(-1)), dim=-1)
def base_up_proj(env: BaseEnv, asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")) -> torch.Tensor:
"""Projection of the base up vector onto the world up vector."""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# compute base up vector
base_up_vec = math_utils.quat_rotate(asset.data.root_quat_w, -asset.GRAVITY_VEC_W)
return base_up_vec[:, 2].unsqueeze(-1)
def base_heading_proj(
env: BaseEnv, target_pos: tuple[float, float, float], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
) -> torch.Tensor:
"""Projection of the base forward vector onto the world forward vector."""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# compute desired heading direction
to_target_pos = torch.tensor(target_pos, device=env.device) - asset.data.root_pos_w[:, :3]
to_target_pos[:, 2] = 0.0
to_target_dir = math_utils.normalize(to_target_pos)
# compute base forward vector
heading_vec = math_utils.quat_rotate(asset.data.root_quat_w, asset.FORWARD_VEC_B)
# compute dot product between heading and target direction
heading_proj = torch.bmm(heading_vec.view(env.num_envs, 1, 3), to_target_dir.view(env.num_envs, 3, 1))
return heading_proj.view(env.num_envs, 1)
def base_angle_to_target(
env: BaseEnv, target_pos: tuple[float, float, float], asset_cfg: SceneEntityCfg = SceneEntityCfg("robot")
) -> torch.Tensor:
"""Angle between the base forward vector and the vector to the target."""
# extract the used quantities (to enable type-hinting)
asset: Articulation = env.scene[asset_cfg.name]
# compute desired heading direction
to_target_pos = torch.tensor(target_pos, device=env.device) - asset.data.root_pos_w[:, :3]
walk_target_angle = torch.atan2(to_target_pos[:, 1], to_target_pos[:, 0])
# compute base forward vector
_, _, yaw = math_utils.euler_xyz_from_quat(asset.data.root_quat_w)
# normalize angle to target to [-pi, pi]
angle_to_target = walk_target_angle - yaw
angle_to_target = torch.atan2(torch.sin(angle_to_target), torch.cos(angle_to_target))
return angle_to_target.unsqueeze(-1)
| 3,270 | Python | 42.039473 | 109 | 0.705505 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Manipulation environments for fixed-arm robots."""
from .reach import * # noqa
| 207 | Python | 22.111109 | 56 | 0.729469 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/reach_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from dataclasses import MISSING
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import ActionTermCfg as ActionTerm
from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
from omni.isaac.orbit.utils.noise import AdditiveUniformNoiseCfg as Unoise
import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp
##
# Scene definition
##
@configclass
class ReachSceneCfg(InteractiveSceneCfg):
"""Configuration for the scene with a robotic arm."""
# world
ground = AssetBaseCfg(
prim_path="/World/ground",
spawn=sim_utils.GroundPlaneCfg(),
init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
)
table = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/Table",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd",
),
init_state=AssetBaseCfg.InitialStateCfg(pos=(0.55, 0.0, 0.0), rot=(0.70711, 0.0, 0.0, 0.70711)),
)
# robots
robot: ArticulationCfg = MISSING
# lights
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=2500.0),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
ee_pose = mdp.UniformPoseCommandCfg(
asset_name="robot",
body_name=MISSING,
resampling_time_range=(4.0, 4.0),
debug_vis=True,
ranges=mdp.UniformPoseCommandCfg.Ranges(
pos_x=(0.35, 0.65),
pos_y=(-0.2, 0.2),
pos_z=(0.15, 0.5),
roll=(0.0, 0.0),
pitch=MISSING, # depends on end-effector axis
yaw=(-3.14, 3.14),
),
)
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
arm_action: ActionTerm = MISSING
gripper_action: ActionTerm | None = None
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
# observation terms (order preserved)
joint_pos = ObsTerm(func=mdp.joint_pos_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
joint_vel = ObsTerm(func=mdp.joint_vel_rel, noise=Unoise(n_min=-0.01, n_max=0.01))
pose_command = ObsTerm(func=mdp.generated_commands, params={"command_name": "ee_pose"})
actions = ObsTerm(func=mdp.last_action)
def __post_init__(self):
self.enable_corruption = True
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_scale,
mode="reset",
params={
"position_range": (0.5, 1.5),
"velocity_range": (0.0, 0.0),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# task terms
end_effector_position_tracking = RewTerm(
func=mdp.position_command_error,
weight=-0.2,
params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING), "command_name": "ee_pose"},
)
end_effector_orientation_tracking = RewTerm(
func=mdp.orientation_command_error,
weight=-0.05,
params={"asset_cfg": SceneEntityCfg("robot", body_names=MISSING), "command_name": "ee_pose"},
)
# action penalty
action_rate = RewTerm(func=mdp.action_rate_l2, weight=-0.0001)
joint_vel = RewTerm(
func=mdp.joint_vel_l2,
weight=-0.0001,
params={"asset_cfg": SceneEntityCfg("robot")},
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
time_out = DoneTerm(func=mdp.time_out, time_out=True)
@configclass
class CurriculumCfg:
"""Curriculum terms for the MDP."""
action_rate = CurrTerm(
func=mdp.modify_reward_weight, params={"term_name": "action_rate", "weight": -0.005, "num_steps": 4500}
)
##
# Environment configuration
##
@configclass
class ReachEnvCfg(RLTaskEnvCfg):
"""Configuration for the reach end-effector pose tracking environment."""
# Scene settings
scene: ReachSceneCfg = ReachSceneCfg(num_envs=4096, env_spacing=2.5)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
curriculum: CurriculumCfg = CurriculumCfg()
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 12.0
self.viewer.eye = (3.5, 3.5, 3.5)
# simulation settings
self.sim.dt = 1.0 / 60.0
| 5,740 | Python | 27.562189 | 111 | 0.661324 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Fixed-arm environments with end-effector pose tracking commands."""
| 194 | Python | 26.857139 | 70 | 0.752577 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/mdp/rewards.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import RigidObject
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils.math import combine_frame_transforms, quat_error_magnitude, quat_mul
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def position_command_error(env: RLTaskEnv, command_name: str, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Penalize tracking of the position error using L2-norm.
The function computes the position error between the desired position (from the command) and the
current position of the asset's body (in world frame). The position error is computed as the L2-norm
of the difference between the desired and current positions.
"""
# extract the asset (to enable type hinting)
asset: RigidObject = env.scene[asset_cfg.name]
command = env.command_manager.get_command(command_name)
# obtain the desired and current positions
des_pos_b = command[:, :3]
des_pos_w, _ = combine_frame_transforms(asset.data.root_state_w[:, :3], asset.data.root_state_w[:, 3:7], des_pos_b)
curr_pos_w = asset.data.body_state_w[:, asset_cfg.body_ids[0], :3] # type: ignore
return torch.norm(curr_pos_w - des_pos_w, dim=1)
def orientation_command_error(env: RLTaskEnv, command_name: str, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Penalize tracking orientation error using shortest path.
The function computes the orientation error between the desired orientation (from the command) and the
current orientation of the asset's body (in world frame). The orientation error is computed as the shortest
path between the desired and current orientations.
"""
# extract the asset (to enable type hinting)
asset: RigidObject = env.scene[asset_cfg.name]
command = env.command_manager.get_command(command_name)
# obtain the desired and current orientations
des_quat_b = command[:, 3:7]
des_quat_w = quat_mul(asset.data.root_state_w[:, 3:7], des_quat_b)
curr_quat_w = asset.data.body_state_w[:, asset_cfg.body_ids[0], 3:7] # type: ignore
return quat_error_magnitude(curr_quat_w, des_quat_w)
| 2,337 | Python | 44.843136 | 119 | 0.728712 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/ik_rel_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.controllers.differential_ik_cfg import DifferentialIKControllerCfg
from omni.isaac.orbit.envs.mdp.actions.actions_cfg import DifferentialInverseKinematicsActionCfg
from omni.isaac.orbit.utils import configclass
from . import joint_pos_env_cfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.franka import FRANKA_PANDA_HIGH_PD_CFG # isort: skip
@configclass
class FrankaReachEnvCfg(joint_pos_env_cfg.FrankaReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# Set Franka as robot
# We switch here to a stiffer PD controller for IK tracking to be better.
self.scene.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# Set actions for the specific robot type (franka)
self.actions.body_joint_pos = DifferentialInverseKinematicsActionCfg(
asset_name="robot",
joint_names=["panda_joint.*"],
body_name="panda_hand",
controller=DifferentialIKControllerCfg(command_type="pose", use_relative_mode=True, ik_method="dls"),
scale=0.5,
body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.107]),
)
@configclass
class FrankaReachEnvCfg_PLAY(FrankaReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
| 1,734 | Python | 34.408163 | 113 | 0.683968 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
##
# Register Gym environments.
##
##
# Joint Position Control
##
gym.register(
id="Isaac-Reach-Franka-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
)
gym.register(
id="Isaac-Reach-Franka-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaReachEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
)
##
# Inverse Kinematics - Absolute Pose Control
##
gym.register(
id="Isaac-Reach-Franka-IK-Abs-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Reach-Franka-IK-Abs-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaReachEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
##
# Inverse Kinematics - Relative Pose Control
##
gym.register(
id="Isaac-Reach-Franka-IK-Rel-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Reach-Franka-IK-Rel-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaReachEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_cfg:FrankaReachPPORunnerCfg",
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
| 3,205 | Python | 31.714285 | 90 | 0.64337 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/franka/joint_pos_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import math
from omni.isaac.orbit.utils import configclass
import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp
from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets import FRANKA_PANDA_CFG # isort: skip
##
# Environment configuration
##
@configclass
class FrankaReachEnvCfg(ReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# switch robot to franka
self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# override rewards
self.rewards.end_effector_position_tracking.params["asset_cfg"].body_names = ["panda_hand"]
self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["panda_hand"]
# override actions
self.actions.arm_action = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
)
# override command generator body
# end-effector is along z-direction
self.commands.ee_pose.body_name = "panda_hand"
self.commands.ee_pose.ranges.pitch = (math.pi, math.pi)
@configclass
class FrankaReachEnvCfg_PLAY(FrankaReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
| 1,754 | Python | 29.789473 | 102 | 0.676739 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, joint_pos_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Reach-UR10-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
},
)
gym.register(
id="Isaac-Reach-UR10-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.UR10ReachEnvCfg_PLAY,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
"rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:UR10ReachPPORunnerCfg",
},
)
| 1,008 | Python | 27.828571 | 92 | 0.660714 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/reach/config/ur_10/joint_pos_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import math
from omni.isaac.orbit.utils import configclass
import omni.isaac.orbit_tasks.manipulation.reach.mdp as mdp
from omni.isaac.orbit_tasks.manipulation.reach.reach_env_cfg import ReachEnvCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets import UR10_CFG # isort: skip
##
# Environment configuration
##
@configclass
class UR10ReachEnvCfg(ReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# switch robot to ur10
self.scene.robot = UR10_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# override events
self.events.reset_robot_joints.params["position_range"] = (0.75, 1.25)
# override rewards
self.rewards.end_effector_position_tracking.params["asset_cfg"].body_names = ["ee_link"]
self.rewards.end_effector_orientation_tracking.params["asset_cfg"].body_names = ["ee_link"]
# override actions
self.actions.arm_action = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True
)
# override command generator body
# end-effector is along x-direction
self.commands.ee_pose.body_name = "ee_link"
self.commands.ee_pose.ranges.pitch = (math.pi / 2, math.pi / 2)
@configclass
class UR10ReachEnvCfg_PLAY(UR10ReachEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
| 1,823 | Python | 29.915254 | 99 | 0.665387 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/cabinet_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# Copyright (c) 2022-2023, The ORBIT Project Developers.
# All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from dataclasses import MISSING
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.actuators.actuator_cfg import ImplicitActuatorCfg
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.sensors import FrameTransformerCfg
from omni.isaac.orbit.sensors.frame_transformer import OffsetCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
from . import mdp
##
# Pre-defined configs
##
from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG # isort: skip
FRAME_MARKER_SMALL_CFG = FRAME_MARKER_CFG.copy()
FRAME_MARKER_SMALL_CFG.markers["frame"].scale = (0.10, 0.10, 0.10)
##
# Scene definition
##
@configclass
class CabinetSceneCfg(InteractiveSceneCfg):
"""Configuration for the cabinet scene with a robot and a cabinet.
This is the abstract base implementation, the exact scene is defined in the derived classes
which need to set the robot and end-effector frames
"""
# robots, Will be populated by agent env cfg
robot: ArticulationCfg = MISSING
# End-effector, Will be populated by agent env cfg
ee_frame: FrameTransformerCfg = MISSING
cabinet = ArticulationCfg(
prim_path="{ENV_REGEX_NS}/Cabinet",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Sektion_Cabinet/sektion_cabinet_instanceable.usd",
activate_contact_sensors=False,
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.8, 0, 0.4),
rot=(0.0, 0.0, 0.0, 1.0),
joint_pos={
"door_left_joint": 0.0,
"door_right_joint": 0.0,
"drawer_bottom_joint": 0.0,
"drawer_top_joint": 0.0,
},
),
actuators={
"drawers": ImplicitActuatorCfg(
joint_names_expr=["drawer_top_joint", "drawer_bottom_joint"],
effort_limit=87.0,
velocity_limit=100.0,
stiffness=10.0,
damping=1.0,
),
"doors": ImplicitActuatorCfg(
joint_names_expr=["door_left_joint", "door_right_joint"],
effort_limit=87.0,
velocity_limit=100.0,
stiffness=10.0,
damping=2.5,
),
},
)
# Frame definitions for the cabinet.
cabinet_frame = FrameTransformerCfg(
prim_path="{ENV_REGEX_NS}/Cabinet/sektion",
debug_vis=True,
visualizer_cfg=FRAME_MARKER_SMALL_CFG.replace(prim_path="/Visuals/CabinetFrameTransformer"),
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Cabinet/drawer_handle_top",
name="drawer_handle_top",
offset=OffsetCfg(
pos=(0.305, 0.0, 0.01),
rot=(0.5, 0.5, -0.5, -0.5), # align with end-effector frame
),
),
],
)
# plane
plane = AssetBaseCfg(
prim_path="/World/GroundPlane",
init_state=AssetBaseCfg.InitialStateCfg(),
spawn=sim_utils.GroundPlaneCfg(),
collision_group=-1,
)
# lights
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
null_command = mdp.NullCommandCfg()
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
body_joint_pos: mdp.JointPositionActionCfg = MISSING
finger_joint_pos: mdp.BinaryJointPositionActionCfg = MISSING
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
cabinet_joint_pos = ObsTerm(
func=mdp.joint_pos_rel,
params={"asset_cfg": SceneEntityCfg("cabinet", joint_names=["drawer_top_joint"])},
)
cabinet_joint_vel = ObsTerm(
func=mdp.joint_vel_rel,
params={"asset_cfg": SceneEntityCfg("cabinet", joint_names=["drawer_top_joint"])},
)
rel_ee_drawer_distance = ObsTerm(func=mdp.rel_ee_drawer_distance)
actions = ObsTerm(func=mdp.last_action)
def __post_init__(self):
self.enable_corruption = True
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
robot_physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("robot", body_names=".*"),
"static_friction_range": (0.8, 1.25),
"dynamic_friction_range": (0.8, 1.25),
"restitution_range": (0.0, 0.0),
"num_buckets": 16,
},
)
cabinet_physics_material = EventTerm(
func=mdp.randomize_rigid_body_material,
mode="startup",
params={
"asset_cfg": SceneEntityCfg("cabinet", body_names="drawer_handle_top"),
"static_friction_range": (1.0, 1.25),
"dynamic_friction_range": (1.25, 1.5),
"restitution_range": (0.0, 0.0),
"num_buckets": 16,
},
)
reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
reset_robot_joints = EventTerm(
func=mdp.reset_joints_by_offset,
mode="reset",
params={
"position_range": (-0.1, 0.1),
"velocity_range": (0.0, 0.0),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
# 1. Approach the handle
approach_ee_handle = RewTerm(func=mdp.approach_ee_handle, weight=2.0, params={"threshold": 0.2})
align_ee_handle = RewTerm(func=mdp.align_ee_handle, weight=0.5)
# 2. Grasp the handle
approach_gripper_handle = RewTerm(func=mdp.approach_gripper_handle, weight=5.0, params={"offset": MISSING})
align_grasp_around_handle = RewTerm(func=mdp.align_grasp_around_handle, weight=0.125)
grasp_handle = RewTerm(
func=mdp.grasp_handle,
weight=0.5,
params={
"threshold": 0.03,
"open_joint_pos": MISSING,
"asset_cfg": SceneEntityCfg("robot", joint_names=MISSING),
},
)
# 3. Open the drawer
open_drawer_bonus = RewTerm(
func=mdp.open_drawer_bonus,
weight=7.5,
params={"asset_cfg": SceneEntityCfg("cabinet", joint_names=["drawer_top_joint"])},
)
multi_stage_open_drawer = RewTerm(
func=mdp.multi_stage_open_drawer,
weight=1.0,
params={"asset_cfg": SceneEntityCfg("cabinet", joint_names=["drawer_top_joint"])},
)
# 4. Penalize actions for cosmetic reasons
action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-1e-2)
joint_vel = RewTerm(func=mdp.joint_vel_l2, weight=-0.0001)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
time_out = DoneTerm(func=mdp.time_out, time_out=True)
##
# Environment configuration
##
@configclass
class CabinetEnvCfg(RLTaskEnvCfg):
"""Configuration for the cabinet environment."""
# Scene settings
scene: CabinetSceneCfg = CabinetSceneCfg(num_envs=4096, env_spacing=2.0)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 1
self.episode_length_s = 8.0
self.viewer.eye = (-2.0, 2.0, 2.0)
self.viewer.lookat = (0.8, 0.0, 0.5)
# simulation settings
self.sim.dt = 1 / 60 # 60Hz
self.sim.physx.bounce_threshold_velocity = 0.2
self.sim.physx.bounce_threshold_velocity = 0.01
self.sim.physx.friction_correlation_distance = 0.00625
| 9,095 | Python | 30.044368 | 111 | 0.625069 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/rewards.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils.math import matrix_from_quat
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def approach_ee_handle(env: RLTaskEnv, threshold: float) -> torch.Tensor:
r"""Reward the robot for reaching the drawer handle using inverse-square law.
It uses a piecewise function to reward the robot for reaching the handle.
.. math::
reward = \begin{cases}
2 * (1 / (1 + distance^2))^2 & \text{if } distance \leq threshold \\
(1 / (1 + distance^2))^2 & \text{otherwise}
\end{cases}
"""
ee_tcp_pos = env.scene["ee_frame"].data.target_pos_w[..., 0, :]
handle_pos = env.scene["cabinet_frame"].data.target_pos_w[..., 0, :]
# Compute the distance of the end-effector to the handle
distance = torch.norm(handle_pos - ee_tcp_pos, dim=-1, p=2)
# Reward the robot for reaching the handle
reward = 1.0 / (1.0 + distance**2)
reward = torch.pow(reward, 2)
return torch.where(distance <= threshold, 2 * reward, reward)
def align_ee_handle(env: RLTaskEnv) -> torch.Tensor:
"""Reward for aligning the end-effector with the handle.
The reward is based on the alignment of the gripper with the handle. It is computed as follows:
.. math::
reward = 0.5 * (align_z^2 + align_x^2)
where :math:`align_z` is the dot product of the z direction of the gripper and the -x direction of the handle
and :math:`align_x` is the dot product of the x direction of the gripper and the -y direction of the handle.
"""
ee_tcp_quat = env.scene["ee_frame"].data.target_quat_w[..., 0, :]
handle_quat = env.scene["cabinet_frame"].data.target_quat_w[..., 0, :]
ee_tcp_rot_mat = matrix_from_quat(ee_tcp_quat)
handle_mat = matrix_from_quat(handle_quat)
# get current x and y direction of the handle
handle_x, handle_y = handle_mat[..., 0], handle_mat[..., 1]
# get current x and z direction of the gripper
ee_tcp_x, ee_tcp_z = ee_tcp_rot_mat[..., 0], ee_tcp_rot_mat[..., 2]
# make sure gripper aligns with the handle
# in this case, the z direction of the gripper should be close to the -x direction of the handle
# and the x direction of the gripper should be close to the -y direction of the handle
# dot product of z and x should be large
align_z = torch.bmm(ee_tcp_z.unsqueeze(1), -handle_x.unsqueeze(-1)).squeeze(-1).squeeze(-1)
align_x = torch.bmm(ee_tcp_x.unsqueeze(1), -handle_y.unsqueeze(-1)).squeeze(-1).squeeze(-1)
return 0.5 * (torch.sign(align_z) * align_z**2 + torch.sign(align_x) * align_x**2)
def align_grasp_around_handle(env: RLTaskEnv) -> torch.Tensor:
"""Bonus for correct hand orientation around the handle.
The correct hand orientation is when the left finger is above the handle and the right finger is below the handle.
"""
# Target object position: (num_envs, 3)
handle_pos = env.scene["cabinet_frame"].data.target_pos_w[..., 0, :]
# Fingertips position: (num_envs, n_fingertips, 3)
ee_fingertips_w = env.scene["ee_frame"].data.target_pos_w[..., 1:, :]
lfinger_pos = ee_fingertips_w[..., 0, :]
rfinger_pos = ee_fingertips_w[..., 1, :]
# Check if hand is in a graspable pose
is_graspable = (rfinger_pos[:, 2] < handle_pos[:, 2]) & (lfinger_pos[:, 2] > handle_pos[:, 2])
# bonus if left finger is above the drawer handle and right below
return is_graspable
def approach_gripper_handle(env: RLTaskEnv, offset: float = 0.04) -> torch.Tensor:
"""Reward the robot's gripper reaching the drawer handle with the right pose.
This function returns the distance of fingertips to the handle when the fingers are in a grasping orientation
(i.e., the left finger is above the handle and the right finger is below the handle). Otherwise, it returns zero.
"""
# Target object position: (num_envs, 3)
handle_pos = env.scene["cabinet_frame"].data.target_pos_w[..., 0, :]
# Fingertips position: (num_envs, n_fingertips, 3)
ee_fingertips_w = env.scene["ee_frame"].data.target_pos_w[..., 1:, :]
lfinger_pos = ee_fingertips_w[..., 0, :]
rfinger_pos = ee_fingertips_w[..., 1, :]
# Compute the distance of each finger from the handle
lfinger_dist = torch.abs(lfinger_pos[:, 2] - handle_pos[:, 2])
rfinger_dist = torch.abs(rfinger_pos[:, 2] - handle_pos[:, 2])
# Check if hand is in a graspable pose
is_graspable = (rfinger_pos[:, 2] < handle_pos[:, 2]) & (lfinger_pos[:, 2] > handle_pos[:, 2])
return is_graspable * ((offset - lfinger_dist) + (offset - rfinger_dist))
def grasp_handle(env: RLTaskEnv, threshold: float, open_joint_pos: float, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Reward for closing the fingers when being close to the handle.
The :attr:`threshold` is the distance from the handle at which the fingers should be closed.
The :attr:`open_joint_pos` is the joint position when the fingers are open.
Note:
It is assumed that zero joint position corresponds to the fingers being closed.
"""
ee_tcp_pos = env.scene["ee_frame"].data.target_pos_w[..., 0, :]
handle_pos = env.scene["cabinet_frame"].data.target_pos_w[..., 0, :]
gripper_joint_pos = env.scene[asset_cfg.name].data.joint_pos[:, asset_cfg.joint_ids]
distance = torch.norm(handle_pos - ee_tcp_pos, dim=-1, p=2)
is_close = distance <= threshold
return is_close * torch.sum(open_joint_pos - gripper_joint_pos, dim=-1)
def open_drawer_bonus(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Bonus for opening the drawer given by the joint position of the drawer.
The bonus is given when the drawer is open. If the grasp is around the handle, the bonus is doubled.
"""
drawer_pos = env.scene[asset_cfg.name].data.joint_pos[:, asset_cfg.joint_ids[0]]
is_graspable = align_grasp_around_handle(env).float()
return (is_graspable + 1.0) * drawer_pos
def multi_stage_open_drawer(env: RLTaskEnv, asset_cfg: SceneEntityCfg) -> torch.Tensor:
"""Multi-stage bonus for opening the drawer.
Depending on the drawer's position, the reward is given in three stages: easy, medium, and hard.
This helps the agent to learn to open the drawer in a controlled manner.
"""
drawer_pos = env.scene[asset_cfg.name].data.joint_pos[:, asset_cfg.joint_ids[0]]
is_graspable = align_grasp_around_handle(env).float()
open_easy = (drawer_pos > 0.01) * 0.5
open_medium = (drawer_pos > 0.2) * is_graspable
open_hard = (drawer_pos > 0.3) * is_graspable
return open_easy + open_medium + open_hard
| 6,848 | Python | 41.540372 | 118 | 0.665596 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/mdp/observations.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import ArticulationData
from omni.isaac.orbit.sensors import FrameTransformerData
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def rel_ee_object_distance(env: RLTaskEnv) -> torch.Tensor:
"""The distance between the end-effector and the object."""
ee_tf_data: FrameTransformerData = env.scene["ee_frame"].data
object_data: ArticulationData = env.scene["object"].data
return object_data.root_pos_w - ee_tf_data.target_pos_w[..., 0, :]
def rel_ee_drawer_distance(env: RLTaskEnv) -> torch.Tensor:
"""The distance between the end-effector and the object."""
ee_tf_data: FrameTransformerData = env.scene["ee_frame"].data
cabinet_tf_data: FrameTransformerData = env.scene["cabinet_frame"].data
return cabinet_tf_data.target_pos_w[..., 0, :] - ee_tf_data.target_pos_w[..., 0, :]
def fingertips_pos(env: RLTaskEnv) -> torch.Tensor:
"""The position of the fingertips relative to the environment origins."""
ee_tf_data: FrameTransformerData = env.scene["ee_frame"].data
fingertips_pos = ee_tf_data.target_pos_w[..., 1:, :] - env.scene.env_origins.unsqueeze(1)
return fingertips_pos.view(env.num_envs, -1)
def ee_pos(env: RLTaskEnv) -> torch.Tensor:
"""The position of the end-effector relative to the environment origins."""
ee_tf_data: FrameTransformerData = env.scene["ee_frame"].data
ee_pos = ee_tf_data.target_pos_w[..., 0, :] - env.scene.env_origins
return ee_pos
def ee_quat(env: RLTaskEnv) -> torch.Tensor:
"""The orientation of the end-effector in the environment frame."""
ee_tf_data: FrameTransformerData = env.scene["ee_frame"].data
ee_quat = ee_tf_data.target_quat_w[..., 0, :]
# make first element of quaternion positive
ee_quat[ee_quat[:, 0] < 0] *= -1
return ee_quat
| 2,031 | Python | 34.034482 | 93 | 0.696701 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
##
# Register Gym environments.
##
##
# Joint Position Control
##
gym.register(
id="Isaac-Open-Drawer-Franka-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Open-Drawer-Franka-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCabinetEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
##
# Inverse Kinematics - Absolute Pose Control
##
gym.register(
id="Isaac-Open-Drawer-Franka-IK-Abs-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Open-Drawer-Franka-IK-Abs-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCabinetEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
##
# Inverse Kinematics - Relative Pose Control
##
gym.register(
id="Isaac-Open-Drawer-Franka-IK-Rel-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Open-Drawer-Franka-IK-Rel-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCabinetEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CabinetPPORunnerCfg,
"rl_games_cfg_entry_point": f"{agents.__name__}:rl_games_ppo_cfg.yaml",
},
disable_env_checker=True,
)
| 2,714 | Python | 28.193548 | 79 | 0.662491 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/joint_pos_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.sensors import FrameTransformerCfg
from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit_tasks.manipulation.cabinet import mdp
from omni.isaac.orbit_tasks.manipulation.cabinet.cabinet_env_cfg import CabinetEnvCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.franka import FRANKA_PANDA_CFG # isort: skip
from omni.isaac.orbit_tasks.manipulation.cabinet.cabinet_env_cfg import FRAME_MARKER_SMALL_CFG # isort: skip
@configclass
class FrankaCabinetEnvCfg(CabinetEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# Set franka as robot
self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# Set Actions for the specific robot type (franka)
self.actions.body_joint_pos = mdp.JointPositionActionCfg(
asset_name="robot",
joint_names=["panda_joint.*"],
scale=1.0,
use_default_offset=True,
)
self.actions.finger_joint_pos = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["panda_finger.*"],
open_command_expr={"panda_finger_.*": 0.04},
close_command_expr={"panda_finger_.*": 0.0},
)
# Listens to the required transforms
# IMPORTANT: The order of the frames in the list is important. The first frame is the tool center point (TCP)
# the other frames are the fingers
self.scene.ee_frame = FrameTransformerCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
debug_vis=False,
visualizer_cfg=FRAME_MARKER_SMALL_CFG.replace(prim_path="/Visuals/EndEffectorFrameTransformer"),
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
name="ee_tcp",
offset=OffsetCfg(
pos=(0.0, 0.0, 0.1034),
),
),
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_leftfinger",
name="tool_leftfinger",
offset=OffsetCfg(
pos=(0.0, 0.0, 0.046),
),
),
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_rightfinger",
name="tool_rightfinger",
offset=OffsetCfg(
pos=(0.0, 0.0, 0.046),
),
),
],
)
# override rewards
self.rewards.approach_gripper_handle.params["offset"] = 0.04
self.rewards.grasp_handle.params["open_joint_pos"] = 0.04
self.rewards.grasp_handle.params["asset_cfg"].joint_names = ["panda_finger_.*"]
@configclass
class FrankaCabinetEnvCfg_PLAY(FrankaCabinetEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
| 3,464 | Python | 37.076923 | 117 | 0.58776 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/cabinet/config/franka/agents/rl_games_ppo_cfg.yaml | params:
seed: 42
# environment wrapper clipping
env:
clip_observations: 5.0
clip_actions: 1.0
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: False
load_path: ''
config:
name: franka_open_drawer
env_name: rlgpu
device: 'cuda:0'
device_name: 'cuda:0'
multi_gpu: False
ppo: True
mixed_precision: False
normalize_input: False
normalize_value: False
num_actors: -1 # configured from the script (based on num_envs)
reward_shaper:
scale_value: 1
normalize_advantage: False
gamma: 0.99
tau: 0.95
learning_rate: 5e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 200
max_epochs: 400
save_best_after: 50
save_frequency: 50
print_stats: True
grad_norm: 1.0
entropy_coef: 0.001
truncate_grads: True
e_clip: 0.2
horizon_length: 96
minibatch_size: 4096
mini_epochs: 5
critic_coef: 4
clip_value: True
seq_length: 4
bounds_loss_coef: 0.0001
| 1,482 | YAML | 18.25974 | 68 | 0.597841 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/lift_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from dataclasses import MISSING
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.managers import CurriculumTermCfg as CurrTerm
from omni.isaac.orbit.managers import EventTermCfg as EventTerm
from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup
from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm
from omni.isaac.orbit.scene import InteractiveSceneCfg
from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg
from omni.isaac.orbit.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg, UsdFileCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
from . import mdp
##
# Scene definition
##
@configclass
class ObjectTableSceneCfg(InteractiveSceneCfg):
"""Configuration for the lift scene with a robot and a object.
This is the abstract base implementation, the exact scene is defined in the derived classes
which need to set the target object, robot and end-effector frames
"""
# robots: will be populated by agent env cfg
robot: ArticulationCfg = MISSING
# end-effector sensor: will be populated by agent env cfg
ee_frame: FrameTransformerCfg = MISSING
# target object: will be populated by agent env cfg
object: RigidObjectCfg = MISSING
# Table
table = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/Table",
init_state=AssetBaseCfg.InitialStateCfg(pos=[0.5, 0, 0], rot=[0.707, 0, 0, 0.707]),
spawn=UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd"),
)
# plane
plane = AssetBaseCfg(
prim_path="/World/GroundPlane",
init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
spawn=GroundPlaneCfg(),
)
# lights
light = AssetBaseCfg(
prim_path="/World/light",
spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
)
##
# MDP settings
##
@configclass
class CommandsCfg:
"""Command terms for the MDP."""
object_pose = mdp.UniformPoseCommandCfg(
asset_name="robot",
body_name=MISSING, # will be set by agent env cfg
resampling_time_range=(5.0, 5.0),
debug_vis=True,
ranges=mdp.UniformPoseCommandCfg.Ranges(
pos_x=(0.4, 0.6), pos_y=(-0.25, 0.25), pos_z=(0.25, 0.5), roll=(0.0, 0.0), pitch=(0.0, 0.0), yaw=(0.0, 0.0)
),
)
@configclass
class ActionsCfg:
"""Action specifications for the MDP."""
# will be set by agent env cfg
body_joint_pos: mdp.JointPositionActionCfg = MISSING
finger_joint_pos: mdp.BinaryJointPositionActionCfg = MISSING
@configclass
class ObservationsCfg:
"""Observation specifications for the MDP."""
@configclass
class PolicyCfg(ObsGroup):
"""Observations for policy group."""
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
object_position = ObsTerm(func=mdp.object_position_in_robot_root_frame)
target_object_position = ObsTerm(func=mdp.generated_commands, params={"command_name": "object_pose"})
actions = ObsTerm(func=mdp.last_action)
def __post_init__(self):
self.enable_corruption = True
self.concatenate_terms = True
# observation groups
policy: PolicyCfg = PolicyCfg()
@configclass
class EventCfg:
"""Configuration for events."""
reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
reset_object_position = EventTerm(
func=mdp.reset_root_state_uniform,
mode="reset",
params={
"pose_range": {"x": (-0.1, 0.1), "y": (-0.25, 0.25), "z": (0.0, 0.0)},
"velocity_range": {},
"asset_cfg": SceneEntityCfg("object", body_names="Object"),
},
)
@configclass
class RewardsCfg:
"""Reward terms for the MDP."""
reaching_object = RewTerm(func=mdp.object_ee_distance, params={"std": 0.1}, weight=1.0)
lifting_object = RewTerm(func=mdp.object_is_lifted, params={"minimal_height": 0.06}, weight=15.0)
object_goal_tracking = RewTerm(
func=mdp.object_goal_distance,
params={"std": 0.3, "minimal_height": 0.06, "command_name": "object_pose"},
weight=16.0,
)
object_goal_tracking_fine_grained = RewTerm(
func=mdp.object_goal_distance,
params={"std": 0.05, "minimal_height": 0.06, "command_name": "object_pose"},
weight=5.0,
)
# action penalty
action_rate = RewTerm(func=mdp.action_rate_l2, weight=-1e-3)
joint_vel = RewTerm(
func=mdp.joint_vel_l2,
weight=-1e-4,
params={"asset_cfg": SceneEntityCfg("robot")},
)
@configclass
class TerminationsCfg:
"""Termination terms for the MDP."""
time_out = DoneTerm(func=mdp.time_out, time_out=True)
object_dropping = DoneTerm(
func=mdp.base_height, params={"minimum_height": -0.05, "asset_cfg": SceneEntityCfg("object")}
)
@configclass
class CurriculumCfg:
"""Curriculum terms for the MDP."""
action_rate = CurrTerm(
func=mdp.modify_reward_weight, params={"term_name": "action_rate", "weight": -1e-1, "num_steps": 10000}
)
joint_vel = CurrTerm(
func=mdp.modify_reward_weight, params={"term_name": "joint_vel", "weight": -1e-1, "num_steps": 10000}
)
##
# Environment configuration
##
@configclass
class LiftEnvCfg(RLTaskEnvCfg):
"""Configuration for the lifting environment."""
# Scene settings
scene: ObjectTableSceneCfg = ObjectTableSceneCfg(num_envs=4096, env_spacing=2.5)
# Basic settings
observations: ObservationsCfg = ObservationsCfg()
actions: ActionsCfg = ActionsCfg()
commands: CommandsCfg = CommandsCfg()
# MDP settings
rewards: RewardsCfg = RewardsCfg()
terminations: TerminationsCfg = TerminationsCfg()
events: EventCfg = EventCfg()
curriculum: CurriculumCfg = CurriculumCfg()
def __post_init__(self):
"""Post initialization."""
# general settings
self.decimation = 2
self.episode_length_s = 5.0
# simulation settings
self.sim.dt = 0.01 # 100Hz
self.sim.physx.bounce_threshold_velocity = 0.2
self.sim.physx.bounce_threshold_velocity = 0.01
self.sim.physx.gpu_found_lost_aggregate_pairs_capacity = 1024 * 1024 * 4
self.sim.physx.gpu_total_aggregate_pairs_capacity = 16 * 1024
self.sim.physx.friction_correlation_distance = 0.00625
| 6,999 | Python | 30.111111 | 119 | 0.673096 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/rewards.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import RigidObject
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.sensors import FrameTransformer
from omni.isaac.orbit.utils.math import combine_frame_transforms
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def object_is_lifted(
env: RLTaskEnv, minimal_height: float, object_cfg: SceneEntityCfg = SceneEntityCfg("object")
) -> torch.Tensor:
"""Reward the agent for lifting the object above the minimal height."""
object: RigidObject = env.scene[object_cfg.name]
return torch.where(object.data.root_pos_w[:, 2] > minimal_height, 1.0, 0.0)
def object_ee_distance(
env: RLTaskEnv,
std: float,
object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
ee_frame_cfg: SceneEntityCfg = SceneEntityCfg("ee_frame"),
) -> torch.Tensor:
"""Reward the agent for reaching the object using tanh-kernel."""
# extract the used quantities (to enable type-hinting)
object: RigidObject = env.scene[object_cfg.name]
ee_frame: FrameTransformer = env.scene[ee_frame_cfg.name]
# Target object position: (num_envs, 3)
cube_pos_w = object.data.root_pos_w
# End-effector position: (num_envs, 3)
ee_w = ee_frame.data.target_pos_w[..., 0, :]
# Distance of the end-effector to the object: (num_envs,)
object_ee_distance = torch.norm(cube_pos_w - ee_w, dim=1)
return 1 - torch.tanh(object_ee_distance / std)
def object_goal_distance(
env: RLTaskEnv,
std: float,
minimal_height: float,
command_name: str,
robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
) -> torch.Tensor:
"""Reward the agent for tracking the goal pose using tanh-kernel."""
# extract the used quantities (to enable type-hinting)
robot: RigidObject = env.scene[robot_cfg.name]
object: RigidObject = env.scene[object_cfg.name]
command = env.command_manager.get_command(command_name)
# compute the desired position in the world frame
des_pos_b = command[:, :3]
des_pos_w, _ = combine_frame_transforms(robot.data.root_state_w[:, :3], robot.data.root_state_w[:, 3:7], des_pos_b)
# distance of the end-effector to the object: (num_envs,)
distance = torch.norm(des_pos_w - object.data.root_pos_w[:, :3], dim=1)
# rewarded if the object is lifted above the threshold
return (object.data.root_pos_w[:, 2] > minimal_height) * (1 - torch.tanh(distance / std))
| 2,683 | Python | 38.470588 | 119 | 0.701826 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/terminations.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Common functions that can be used to activate certain terminations for the lift task.
The functions can be passed to the :class:`omni.isaac.orbit.managers.TerminationTermCfg` object to enable
the termination introduced by the function.
"""
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import RigidObject
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils.math import combine_frame_transforms
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def object_reached_goal(
env: RLTaskEnv,
command_name: str = "object_pose",
threshold: float = 0.02,
robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
) -> torch.Tensor:
"""Termination condition for the object reaching the goal position.
Args:
env: The environment.
command_name: The name of the command that is used to control the object.
threshold: The threshold for the object to reach the goal position. Defaults to 0.02.
robot_cfg: The robot configuration. Defaults to SceneEntityCfg("robot").
object_cfg: The object configuration. Defaults to SceneEntityCfg("object").
"""
# extract the used quantities (to enable type-hinting)
robot: RigidObject = env.scene[robot_cfg.name]
object: RigidObject = env.scene[object_cfg.name]
command = env.command_manager.get_command(command_name)
# compute the desired position in the world frame
des_pos_b = command[:, :3]
des_pos_w, _ = combine_frame_transforms(robot.data.root_state_w[:, :3], robot.data.root_state_w[:, 3:7], des_pos_b)
# distance of the end-effector to the object: (num_envs,)
distance = torch.norm(des_pos_w - object.data.root_pos_w[:, :3], dim=1)
# rewarded if the object is lifted above the threshold
return distance < threshold
| 2,055 | Python | 37.074073 | 119 | 0.722141 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/mdp/observations.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import torch
from typing import TYPE_CHECKING
from omni.isaac.orbit.assets import RigidObject
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils.math import subtract_frame_transforms
if TYPE_CHECKING:
from omni.isaac.orbit.envs import RLTaskEnv
def object_position_in_robot_root_frame(
env: RLTaskEnv,
robot_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
object_cfg: SceneEntityCfg = SceneEntityCfg("object"),
) -> torch.Tensor:
"""The position of the object in the robot's root frame."""
robot: RigidObject = env.scene[robot_cfg.name]
object: RigidObject = env.scene[object_cfg.name]
object_pos_w = object.data.root_pos_w[:, :3]
object_pos_b, _ = subtract_frame_transforms(
robot.data.root_state_w[:, :3], robot.data.root_state_w[:, 3:7], object_pos_w
)
return object_pos_b
| 1,020 | Python | 30.906249 | 85 | 0.721569 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
import os
from . import agents, ik_abs_env_cfg, ik_rel_env_cfg, joint_pos_env_cfg
##
# Register Gym environments.
##
##
# Joint Position Control
##
gym.register(
id="Isaac-Lift-Cube-Franka-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Lift-Cube-Franka-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": joint_pos_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
##
# Inverse Kinematics - Absolute Pose Control
##
gym.register(
id="Isaac-Lift-Cube-Franka-IK-Abs-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Lift-Cube-Franka-IK-Abs-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_abs_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
##
# Inverse Kinematics - Relative Pose Control
##
gym.register(
id="Isaac-Lift-Cube-Franka-IK-Rel-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
"robomimic_bc_cfg_entry_point": os.path.join(agents.__path__[0], "robomimic/bc.json"),
},
disable_env_checker=True,
)
gym.register(
id="Isaac-Lift-Cube-Franka-IK-Rel-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
kwargs={
"env_cfg_entry_point": ik_rel_env_cfg.FrankaCubeLiftEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.LiftCubePPORunnerCfg,
"skrl_cfg_entry_point": f"{agents.__name__}:skrl_ppo_cfg.yaml",
},
disable_env_checker=True,
)
| 2,769 | Python | 28.784946 | 94 | 0.660888 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/joint_pos_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.assets import RigidObjectCfg
from omni.isaac.orbit.sensors import FrameTransformerCfg
from omni.isaac.orbit.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
from omni.isaac.orbit.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
from omni.isaac.orbit.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
from omni.isaac.orbit_tasks.manipulation.lift import mdp
from omni.isaac.orbit_tasks.manipulation.lift.lift_env_cfg import LiftEnvCfg
##
# Pre-defined configs
##
from omni.isaac.orbit.markers.config import FRAME_MARKER_CFG # isort: skip
from omni.isaac.orbit_assets.franka import FRANKA_PANDA_CFG # isort: skip
@configclass
class FrankaCubeLiftEnvCfg(LiftEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# Set Franka as robot
self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# Set actions for the specific robot type (franka)
self.actions.body_joint_pos = mdp.JointPositionActionCfg(
asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
)
self.actions.finger_joint_pos = mdp.BinaryJointPositionActionCfg(
asset_name="robot",
joint_names=["panda_finger.*"],
open_command_expr={"panda_finger_.*": 0.04},
close_command_expr={"panda_finger_.*": 0.0},
)
# Set the body name for the end effector
self.commands.object_pose.body_name = "panda_hand"
# Set Cube as object
self.scene.object = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Object",
init_state=RigidObjectCfg.InitialStateCfg(pos=[0.5, 0, 0.055], rot=[1, 0, 0, 0]),
spawn=UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
scale=(0.8, 0.8, 0.8),
rigid_props=RigidBodyPropertiesCfg(
solver_position_iteration_count=16,
solver_velocity_iteration_count=1,
max_angular_velocity=1000.0,
max_linear_velocity=1000.0,
max_depenetration_velocity=5.0,
disable_gravity=False,
),
),
)
# Listens to the required transforms
marker_cfg = FRAME_MARKER_CFG.copy()
marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
marker_cfg.prim_path = "/Visuals/FrameTransformer"
self.scene.ee_frame = FrameTransformerCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
debug_vis=False,
visualizer_cfg=marker_cfg,
target_frames=[
FrameTransformerCfg.FrameCfg(
prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
name="end_effector",
offset=OffsetCfg(
pos=[0.0, 0.0, 0.1034],
),
),
],
)
@configclass
class FrankaCubeLiftEnvCfg_PLAY(FrankaCubeLiftEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# disable randomization for play
self.observations.policy.enable_corruption = False
| 3,644 | Python | 37.776595 | 97 | 0.613886 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/manipulation/lift/config/franka/agents/sb3_ppo_cfg.yaml | # Reference: https://github.com/DLR-RM/rl-baselines3-zoo/blob/master/hyperparams/ppo.yml#L32
seed: 42
# epoch * n_steps * nenvs: 500×512*8*8
n_timesteps: 16384000
policy: 'MlpPolicy'
n_steps: 64
# mini batch size: num_envs * nsteps / nminibatches 2048×512÷2048
batch_size: 192
gae_lambda: 0.95
gamma: 0.99
n_epochs: 8
ent_coef: 0.00
vf_coef: 0.0001
learning_rate: !!float 3e-4
clip_range: 0.2
policy_kwargs: "dict(
activation_fn=nn.ELU,
net_arch=[32, 32, dict(pi=[256, 128, 64], vf=[256, 128, 64])]
)"
target_kl: 0.01
max_grad_norm: 1.0
# # Uses VecNormalize class to normalize obs
# normalize_input: True
# # Uses VecNormalize class to normalize rew
# normalize_value: True
# clip_obs: 5
| 743 | YAML | 24.655172 | 92 | 0.660834 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/rough_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.utils import configclass
from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.unitree import UNITREE_GO1_CFG # isort: skip
@configclass
class UnitreeGo1RoughEnvCfg(LocomotionVelocityRoughEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
self.scene.robot = UNITREE_GO1_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/trunk"
# scale down the terrains because the robot is small
self.scene.terrain.terrain_generator.sub_terrains["boxes"].grid_height_range = (0.025, 0.1)
self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_range = (0.01, 0.06)
self.scene.terrain.terrain_generator.sub_terrains["random_rough"].noise_step = 0.01
# reduce action scale
self.actions.joint_pos.scale = 0.25
# event
self.events.push_robot = None
self.events.add_base_mass.params["mass_range"] = (-1.0, 3.0)
self.events.add_base_mass.params["asset_cfg"].body_names = "trunk"
self.events.base_external_force_torque.params["asset_cfg"].body_names = "trunk"
self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
self.events.reset_base.params = {
"pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
"velocity_range": {
"x": (0.0, 0.0),
"y": (0.0, 0.0),
"z": (0.0, 0.0),
"roll": (0.0, 0.0),
"pitch": (0.0, 0.0),
"yaw": (0.0, 0.0),
},
}
# rewards
self.rewards.feet_air_time.params["sensor_cfg"].body_names = ".*_foot"
self.rewards.feet_air_time.weight = 0.01
self.rewards.undesired_contacts = None
self.rewards.dof_torques_l2.weight = -0.0002
self.rewards.track_lin_vel_xy_exp.weight = 1.5
self.rewards.track_ang_vel_z_exp.weight = 0.75
self.rewards.dof_acc_l2.weight = -2.5e-7
# terminations
self.terminations.base_contact.params["sensor_cfg"].body_names = "trunk"
@configclass
class UnitreeGo1RoughEnvCfg_PLAY(UnitreeGo1RoughEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# spawn the robot randomly in the grid (instead of their terrain levels)
self.scene.terrain.max_init_terrain_level = None
# reduce the number of terrains to save memory
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.num_rows = 5
self.scene.terrain.terrain_generator.num_cols = 5
self.scene.terrain.terrain_generator.curriculum = False
# disable randomization for play
self.observations.policy.enable_corruption = False
# remove random pushing event
self.events.base_external_force_torque = None
self.events.push_robot = None
| 3,351 | Python | 38.435294 | 101 | 0.621904 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go1/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go1-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go1-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-Go1-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-Go1-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo1RoughPPORunnerCfg,
},
)
| 1,498 | Python | 27.283018 | 80 | 0.690921 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/rough_env_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from omni.isaac.orbit.managers import RewardTermCfg as RewTerm
from omni.isaac.orbit.managers import SceneEntityCfg
from omni.isaac.orbit.utils import configclass
import omni.isaac.orbit_tasks.locomotion.velocity.mdp as mdp
from omni.isaac.orbit_tasks.locomotion.velocity.velocity_env_cfg import LocomotionVelocityRoughEnvCfg, RewardsCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.cassie import CASSIE_CFG # isort: skip
@configclass
class CassieRewardsCfg(RewardsCfg):
termination_penalty = RewTerm(func=mdp.is_terminated, weight=-200.0)
feet_air_time = RewTerm(
func=mdp.feet_air_time_positive_biped,
weight=2.5,
params={
"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*toe"),
"command_name": "base_velocity",
"threshold": 0.3,
},
)
joint_deviation_hip = RewTerm(
func=mdp.joint_deviation_l1,
weight=-0.2,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["hip_abduction_.*", "hip_rotation_.*"])},
)
joint_deviation_toes = RewTerm(
func=mdp.joint_deviation_l1,
weight=-0.2,
params={"asset_cfg": SceneEntityCfg("robot", joint_names=["toe_joint_.*"])},
)
# penalize toe joint limits
dof_pos_limits = RewTerm(
func=mdp.joint_pos_limits,
weight=-1.0,
params={"asset_cfg": SceneEntityCfg("robot", joint_names="toe_joint_.*")},
)
@configclass
class CassieRoughEnvCfg(LocomotionVelocityRoughEnvCfg):
"""Cassie rough environment configuration."""
rewards: CassieRewardsCfg = CassieRewardsCfg()
def __post_init__(self):
super().__post_init__()
# scene
self.scene.robot = CASSIE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/pelvis"
# actions
self.actions.joint_pos.scale = 0.5
# events
self.events.push_robot = None
self.events.add_base_mass = None
self.events.reset_robot_joints.params["position_range"] = (1.0, 1.0)
self.events.base_external_force_torque.params["asset_cfg"].body_names = [".*pelvis"]
self.events.reset_base.params = {
"pose_range": {"x": (-0.5, 0.5), "y": (-0.5, 0.5), "yaw": (-3.14, 3.14)},
"velocity_range": {
"x": (0.0, 0.0),
"y": (0.0, 0.0),
"z": (0.0, 0.0),
"roll": (0.0, 0.0),
"pitch": (0.0, 0.0),
"yaw": (0.0, 0.0),
},
}
# terminations
self.terminations.base_contact.params["sensor_cfg"].body_names = [".*pelvis"]
# rewards
self.rewards.undesired_contacts = None
self.rewards.dof_torques_l2.weight = -5.0e-6
self.rewards.track_lin_vel_xy_exp.weight = 2.0
self.rewards.track_ang_vel_z_exp.weight = 1.0
self.rewards.action_rate_l2.weight *= 1.5
self.rewards.dof_acc_l2.weight *= 1.5
@configclass
class CassieRoughEnvCfg_PLAY(CassieRoughEnvCfg):
def __post_init__(self):
# post init of parent
super().__post_init__()
# make a smaller scene for play
self.scene.num_envs = 50
self.scene.env_spacing = 2.5
# spawn the robot randomly in the grid (instead of their terrain levels)
self.scene.terrain.max_init_terrain_level = None
# reduce the number of terrains to save memory
if self.scene.terrain.terrain_generator is not None:
self.scene.terrain.terrain_generator.num_rows = 5
self.scene.terrain.terrain_generator.num_cols = 5
self.scene.terrain.terrain_generator.curriculum = False
self.commands.base_velocity.ranges.lin_vel_x = (0.7, 1.0)
self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
self.commands.base_velocity.ranges.heading = (0.0, 0.0)
# disable randomization for play
self.observations.policy.enable_corruption = False
| 4,139 | Python | 35 | 113 | 0.614641 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/cassie/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Cassie-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieFlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Flat-Cassie-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.CassieFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieFlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Cassie-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieRoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Cassie-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.CassieRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.CassieRoughPPORunnerCfg,
},
)
| 1,446 | Python | 26.301886 | 76 | 0.682573 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_b/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Anymal-B-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Flat-Anymal-B-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalBFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBFlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Anymal-B-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Anymal-B-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalBRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalBRoughPPORunnerCfg,
},
)
| 1,462 | Python | 26.603773 | 77 | 0.683311 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
"skrl_cfg_entry_point": "omni.isaac.orbit_tasks.locomotion.velocity.anymal_c.agents:skrl_cfg.yaml",
},
)
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.AnymalCFlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCFlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Anymal-C-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Anymal-C-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.AnymalCRoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.AnymalCRoughPPORunnerCfg,
},
)
| 1,570 | Python | 28.092592 | 107 | 0.685987 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_go2/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go2-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Flat-Unitree-Go2-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeGo2FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-Go2-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2RoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-Go2-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeGo2RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeGo2RoughPPORunnerCfg,
},
)
| 1,498 | Python | 27.283018 | 80 | 0.690921 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/locomotion/velocity/config/unitree_a1/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import gymnasium as gym
from . import agents, flat_env_cfg, rough_env_cfg
##
# Register Gym environments.
##
gym.register(
id="Isaac-Velocity-Flat-Unitree-A1-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Flat-Unitree-A1-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": flat_env_cfg.UnitreeA1FlatEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1FlatPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-A1-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,
},
)
gym.register(
id="Isaac-Velocity-Rough-Unitree-A1-Play-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={
"env_cfg_entry_point": rough_env_cfg.UnitreeA1RoughEnvCfg_PLAY,
"rsl_rl_cfg_entry_point": agents.rsl_rl_cfg.UnitreeA1RoughPPORunnerCfg,
},
)
| 1,486 | Python | 27.056603 | 79 | 0.688425 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/importer.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Sub-module with utility for importing all modules in a package recursively."""
from __future__ import annotations
import importlib
import pkgutil
import sys
def import_packages(package_name: str, blacklist_pkgs: list[str] = None):
"""Import all sub-packages in a package recursively.
It is easier to use this function to import all sub-packages in a package recursively
than to manually import each sub-package.
It replaces the need of the following code snippet on the top of each package's ``__init__.py`` file:
.. code-block:: python
import .locomotion.velocity
import .manipulation.reach
import .manipulation.lift
Args:
package_name: The package name.
blacklist_pkgs: The list of blacklisted packages to skip. Defaults to None,
which means no packages are blacklisted.
"""
# Default blacklist
if blacklist_pkgs is None:
blacklist_pkgs = []
# Import the package itself
package = importlib.import_module(package_name)
# Import all Python files
for _ in _walk_packages(package.__path__, package.__name__ + ".", blacklist_pkgs=blacklist_pkgs):
pass
def _walk_packages(
path: str | None = None,
prefix: str = "",
onerror: callable | None = None,
blacklist_pkgs: list[str] | None = None,
):
"""Yields ModuleInfo for all modules recursively on path, or, if path is None, all accessible modules.
Note:
This function is a modified version of the original ``pkgutil.walk_packages`` function. It adds
the `blacklist_pkgs` argument to skip blacklisted packages. Please refer to the original
``pkgutil.walk_packages`` function for more details.
"""
if blacklist_pkgs is None:
blacklist_pkgs = []
def seen(p, m={}):
if p in m:
return True
m[p] = True # noqa: R503
for info in pkgutil.iter_modules(path, prefix):
# check blacklisted
if any([black_pkg_name in info.name for black_pkg_name in blacklist_pkgs]):
continue
# yield the module info
yield info
if info.ispkg:
try:
__import__(info.name)
except Exception:
if onerror is not None:
onerror(info.name)
else:
raise
else:
path = getattr(sys.modules[info.name], "__path__", None) or []
# don't traverse path items we've seen before
path = [p for p in path if not seen(p)]
yield from _walk_packages(path, info.name + ".", onerror, blacklist_pkgs)
| 2,791 | Python | 30.727272 | 106 | 0.617341 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Sub-package with utilities, data collectors and environment wrappers."""
from .importer import import_packages
from .parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg
| 320 | Python | 31.099997 | 81 | 0.771875 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/parse_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Sub-module with utilities for parsing and loading configurations."""
from __future__ import annotations
import gymnasium as gym
import importlib
import inspect
import os
import re
import yaml
from omni.isaac.orbit.envs import RLTaskEnvCfg
from omni.isaac.orbit.utils import update_class_from_dict, update_dict
def load_cfg_from_registry(task_name: str, entry_point_key: str) -> dict | RLTaskEnvCfg:
"""Load default configuration given its entry point from the gym registry.
This function loads the configuration object from the gym registry for the given task name.
It supports both YAML and Python configuration files.
It expects the configuration to be registered in the gym registry as:
.. code-block:: python
gym.register(
id="My-Awesome-Task-v0",
...
kwargs={"env_entry_point_cfg": "path.to.config:ConfigClass"},
)
The parsed configuration object for above example can be obtained as:
.. code-block:: python
from omni.isaac.orbit_tasks.utils.parse_cfg import load_cfg_from_registry
cfg = load_cfg_from_registry("My-Awesome-Task-v0", "env_entry_point_cfg")
Args:
task_name: The name of the environment.
entry_point_key: The entry point key to resolve the configuration file.
Returns:
The parsed configuration object. This is either a dictionary or a class object.
Raises:
ValueError: If the entry point key is not available in the gym registry for the task.
"""
# obtain the configuration entry point
cfg_entry_point = gym.spec(task_name).kwargs.get(entry_point_key)
# check if entry point exists
if cfg_entry_point is None:
raise ValueError(
f"Could not find configuration for the environment: '{task_name}'."
f" Please check that the gym registry has the entry point: '{entry_point_key}'."
)
# parse the default config file
if isinstance(cfg_entry_point, str) and cfg_entry_point.endswith(".yaml"):
if os.path.exists(cfg_entry_point):
# absolute path for the config file
config_file = cfg_entry_point
else:
# resolve path to the module location
mod_name, file_name = cfg_entry_point.split(":")
mod_path = os.path.dirname(importlib.import_module(mod_name).__file__)
# obtain the configuration file path
config_file = os.path.join(mod_path, file_name)
# load the configuration
print(f"[INFO]: Parsing configuration from: {config_file}")
with open(config_file, encoding="utf-8") as f:
cfg = yaml.full_load(f)
else:
if callable(cfg_entry_point):
# resolve path to the module location
mod_path = inspect.getfile(cfg_entry_point)
# load the configuration
cfg_cls = cfg_entry_point()
elif isinstance(cfg_entry_point, str):
# resolve path to the module location
mod_name, attr_name = cfg_entry_point.split(":")
mod = importlib.import_module(mod_name)
cfg_cls = getattr(mod, attr_name)
else:
cfg_cls = cfg_entry_point
# load the configuration
print(f"[INFO]: Parsing configuration from: {cfg_entry_point}")
if callable(cfg_cls):
cfg = cfg_cls()
else:
cfg = cfg_cls
return cfg
def parse_env_cfg(
task_name: str, use_gpu: bool | None = None, num_envs: int | None = None, use_fabric: bool | None = None
) -> dict | RLTaskEnvCfg:
"""Parse configuration for an environment and override based on inputs.
Args:
task_name: The name of the environment.
use_gpu: Whether to use GPU/CPU pipeline. Defaults to None, in which case it is left unchanged.
num_envs: Number of environments to create. Defaults to None, in which case it is left unchanged.
use_fabric: Whether to enable/disable fabric interface. If false, all read/write operations go through USD.
This slows down the simulation but allows seeing the changes in the USD through the USD stage.
Defaults to None, in which case it is left unchanged.
Returns:
The parsed configuration object. This is either a dictionary or a class object.
Raises:
ValueError: If the task name is not provided, i.e. None.
"""
# check if a task name is provided
if task_name is None:
raise ValueError("Please provide a valid task name. Hint: Use --task <task_name>.")
# create a dictionary to update from
args_cfg = {"sim": {"physx": dict()}, "scene": dict()}
# resolve pipeline to use (based on input)
if use_gpu is not None:
if not use_gpu:
args_cfg["sim"]["use_gpu_pipeline"] = False
args_cfg["sim"]["physx"]["use_gpu"] = False
args_cfg["sim"]["device"] = "cpu"
else:
args_cfg["sim"]["use_gpu_pipeline"] = True
args_cfg["sim"]["physx"]["use_gpu"] = True
args_cfg["sim"]["device"] = "cuda:0"
# disable fabric to read/write through USD
if use_fabric is not None:
args_cfg["sim"]["use_fabric"] = use_fabric
# number of environments
if num_envs is not None:
args_cfg["scene"]["num_envs"] = num_envs
# load the default configuration
cfg = load_cfg_from_registry(task_name, "env_cfg_entry_point")
# update the main configuration
if isinstance(cfg, dict):
cfg = update_dict(cfg, args_cfg)
else:
update_class_from_dict(cfg, args_cfg)
return cfg
def get_checkpoint_path(
log_path: str, run_dir: str = ".*", checkpoint: str = ".*", other_dirs: list[str] = None, sort_alpha: bool = True
) -> str:
"""Get path to the model checkpoint in input directory.
The checkpoint file is resolved as: ``<log_path>/<run_dir>/<*other_dirs>/<checkpoint>``, where the
:attr:`other_dirs` are intermediate folder names to concatenate. These cannot be regex expressions.
If :attr:`run_dir` and :attr:`checkpoint` are regex expressions then the most recent (highest alphabetical order)
run and checkpoint are selected. To disable this behavior, set the flag :attr:`sort_alpha` to False.
Args:
log_path: The log directory path to find models in.
run_dir: The regex expression for the name of the directory containing the run. Defaults to the most
recent directory created inside :attr:`log_path`.
other_dirs: The intermediate directories between the run directory and the checkpoint file. Defaults to
None, which implies that checkpoint file is directly under the run directory.
checkpoint: The regex expression for the model checkpoint file. Defaults to the most recent
torch-model saved in the :attr:`run_dir` directory.
sort_alpha: Whether to sort the runs by alphabetical order. Defaults to True.
If False, the folders in :attr:`run_dir` are sorted by the last modified time.
Raises:
ValueError: When no runs are found in the input directory.
ValueError: When no checkpoints are found in the input directory.
Returns:
The path to the model checkpoint.
Reference:
https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/utils/helpers.py#L103
"""
# check if runs present in directory
try:
# find all runs in the directory that math the regex expression
runs = [
os.path.join(log_path, run) for run in os.scandir(log_path) if run.is_dir() and re.match(run_dir, run.name)
]
# sort matched runs by alphabetical order (latest run should be last)
if sort_alpha:
runs.sort()
else:
runs = sorted(runs, key=os.path.getmtime)
# create last run file path
if other_dirs is not None:
run_path = os.path.join(runs[-1], *other_dirs)
else:
run_path = runs[-1]
except IndexError:
raise ValueError(f"No runs present in the directory: '{log_path}' match: '{run_dir}'.")
# list all model checkpoints in the directory
model_checkpoints = [f for f in os.listdir(run_path) if re.match(checkpoint, f)]
# check if any checkpoints are present
if len(model_checkpoints) == 0:
raise ValueError(f"No checkpoints in the directory: '{run_path}' match '{checkpoint}'.")
# sort alphabetically while ensuring that *_10 comes after *_9
model_checkpoints.sort(key=lambda m: f"{m:0>15}")
# get latest matched checkpoint file
checkpoint_file = model_checkpoints[-1]
return os.path.join(run_path, checkpoint_file)
| 8,833 | Python | 39.898148 | 119 | 0.646892 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/skrl.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Wrapper to configure an :class:`RLTaskEnv` instance to skrl environment.
The following example shows how to wrap an environment for skrl:
.. code-block:: python
from omni.isaac.orbit_tasks.utils.wrappers.skrl import SkrlVecEnvWrapper
env = SkrlVecEnvWrapper(env)
Or, equivalently, by directly calling the skrl library API as follows:
.. code-block:: python
from skrl.envs.torch.wrappers import wrap_env
env = wrap_env(env, wrapper="isaac-orbit")
"""
from __future__ import annotations
import copy
import torch
import tqdm
from skrl.agents.torch import Agent
from skrl.envs.wrappers.torch import Wrapper, wrap_env
from skrl.resources.preprocessors.torch import RunningStandardScaler # noqa: F401
from skrl.resources.schedulers.torch import KLAdaptiveLR # noqa: F401
from skrl.trainers.torch import Trainer
from skrl.trainers.torch.sequential import SEQUENTIAL_TRAINER_DEFAULT_CONFIG
from skrl.utils.model_instantiators.torch import Shape # noqa: F401
from omni.isaac.orbit.envs import RLTaskEnv
"""
Configuration Parser.
"""
def process_skrl_cfg(cfg: dict) -> dict:
"""Convert simple YAML types to skrl classes/components.
Args:
cfg: A configuration dictionary.
Returns:
A dictionary containing the converted configuration.
"""
_direct_eval = [
"learning_rate_scheduler",
"state_preprocessor",
"value_preprocessor",
"input_shape",
"output_shape",
]
def reward_shaper_function(scale):
def reward_shaper(rewards, timestep, timesteps):
return rewards * scale
return reward_shaper
def update_dict(d):
for key, value in d.items():
if isinstance(value, dict):
update_dict(value)
else:
if key in _direct_eval:
d[key] = eval(value)
elif key.endswith("_kwargs"):
d[key] = value if value is not None else {}
elif key in ["rewards_shaper_scale"]:
d["rewards_shaper"] = reward_shaper_function(value)
return d
# parse agent configuration and convert to classes
return update_dict(cfg)
"""
Vectorized environment wrapper.
"""
def SkrlVecEnvWrapper(env: RLTaskEnv):
"""Wraps around Orbit environment for skrl.
This function wraps around the Orbit environment. Since the :class:`RLTaskEnv` environment
wrapping functionality is defined within the skrl library itself, this implementation
is maintained for compatibility with the structure of the extension that contains it.
Internally it calls the :func:`wrap_env` from the skrl library API.
Args:
env: The environment to wrap around.
Raises:
ValueError: When the environment is not an instance of :class:`RLTaskEnv`.
Reference:
https://skrl.readthedocs.io/en/latest/modules/skrl.envs.wrapping.html
"""
# check that input is valid
if not isinstance(env.unwrapped, RLTaskEnv):
raise ValueError(f"The environment must be inherited from RLTaskEnv. Environment type: {type(env)}")
# wrap and return the environment
return wrap_env(env, wrapper="isaac-orbit")
"""
Custom trainer for skrl.
"""
class SkrlSequentialLogTrainer(Trainer):
"""Sequential trainer with logging of episode information.
This trainer inherits from the :class:`skrl.trainers.base_class.Trainer` class. It is used to
train agents in a sequential manner (i.e., one after the other in each interaction with the
environment). It is most suitable for on-policy RL agents such as PPO, A2C, etc.
It modifies the :class:`skrl.trainers.torch.sequential.SequentialTrainer` class with the following
differences:
* It also log episode information to the agent's logger.
* It does not close the environment at the end of the training.
Reference:
https://skrl.readthedocs.io/en/latest/modules/skrl.trainers.base_class.html
"""
def __init__(
self,
env: Wrapper,
agents: Agent | list[Agent],
agents_scope: list[int] | None = None,
cfg: dict | None = None,
):
"""Initializes the trainer.
Args:
env: Environment to train on.
agents: Agents to train.
agents_scope: Number of environments for each agent to
train on. Defaults to None.
cfg: Configuration dictionary. Defaults to None.
"""
# update the config
_cfg = copy.deepcopy(SEQUENTIAL_TRAINER_DEFAULT_CONFIG)
_cfg.update(cfg if cfg is not None else {})
# store agents scope
agents_scope = agents_scope if agents_scope is not None else []
# initialize the base class
super().__init__(env=env, agents=agents, agents_scope=agents_scope, cfg=_cfg)
# init agents
if self.env.num_agents > 1:
for agent in self.agents:
agent.init(trainer_cfg=self.cfg)
else:
self.agents.init(trainer_cfg=self.cfg)
def train(self):
"""Train the agents sequentially.
This method executes the training loop for the agents. It performs the following steps:
* Pre-interaction: Perform any pre-interaction operations.
* Compute actions: Compute the actions for the agents.
* Step the environments: Step the environments with the computed actions.
* Record the environments' transitions: Record the transitions from the environments.
* Log custom environment data: Log custom environment data.
* Post-interaction: Perform any post-interaction operations.
* Reset the environments: Reset the environments if they are terminated or truncated.
"""
# init agent
self.agents.init(trainer_cfg=self.cfg)
self.agents.set_running_mode("train")
# reset env
states, infos = self.env.reset()
# training loop
for timestep in tqdm.tqdm(range(self.timesteps), disable=self.disable_progressbar):
# pre-interaction
self.agents.pre_interaction(timestep=timestep, timesteps=self.timesteps)
# compute actions
with torch.no_grad():
actions = self.agents.act(states, timestep=timestep, timesteps=self.timesteps)[0]
# step the environments
next_states, rewards, terminated, truncated, infos = self.env.step(actions)
# note: here we do not call render scene since it is done in the env.step() method
# record the environments' transitions
with torch.no_grad():
self.agents.record_transition(
states=states,
actions=actions,
rewards=rewards,
next_states=next_states,
terminated=terminated,
truncated=truncated,
infos=infos,
timestep=timestep,
timesteps=self.timesteps,
)
# log custom environment data
if "episode" in infos:
for k, v in infos["episode"].items():
if isinstance(v, torch.Tensor) and v.numel() == 1:
self.agents.track_data(f"EpisodeInfo / {k}", v.item())
# post-interaction
self.agents.post_interaction(timestep=timestep, timesteps=self.timesteps)
# reset the environments
# note: here we do not call reset scene since it is done in the env.step() method
# update states
states.copy_(next_states)
def eval(self) -> None:
"""Evaluate the agents sequentially.
This method executes the following steps in loop:
* Compute actions: Compute the actions for the agents.
* Step the environments: Step the environments with the computed actions.
* Record the environments' transitions: Record the transitions from the environments.
* Log custom environment data: Log custom environment data.
"""
# set running mode
if self.num_agents > 1:
for agent in self.agents:
agent.set_running_mode("eval")
else:
self.agents.set_running_mode("eval")
# single agent
if self.num_agents == 1:
self.single_agent_eval()
return
# reset env
states, infos = self.env.reset()
# evaluation loop
for timestep in tqdm.tqdm(range(self.initial_timestep, self.timesteps), disable=self.disable_progressbar):
# compute actions
with torch.no_grad():
actions = torch.vstack([
agent.act(states[scope[0] : scope[1]], timestep=timestep, timesteps=self.timesteps)[0]
for agent, scope in zip(self.agents, self.agents_scope)
])
# step the environments
next_states, rewards, terminated, truncated, infos = self.env.step(actions)
with torch.no_grad():
# write data to TensorBoard
for agent, scope in zip(self.agents, self.agents_scope):
# track data
agent.record_transition(
states=states[scope[0] : scope[1]],
actions=actions[scope[0] : scope[1]],
rewards=rewards[scope[0] : scope[1]],
next_states=next_states[scope[0] : scope[1]],
terminated=terminated[scope[0] : scope[1]],
truncated=truncated[scope[0] : scope[1]],
infos=infos,
timestep=timestep,
timesteps=self.timesteps,
)
# log custom environment data
if "log" in infos:
for k, v in infos["log"].items():
if isinstance(v, torch.Tensor) and v.numel() == 1:
agent.track_data(k, v.item())
# perform post-interaction
super(type(agent), agent).post_interaction(timestep=timestep, timesteps=self.timesteps)
# reset environments
# note: here we do not call reset scene since it is done in the env.step() method
states.copy_(next_states)
| 10,584 | Python | 36.271127 | 114 | 0.607899 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rl_games.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Wrapper to configure an :class:`RLTaskEnv` instance to RL-Games vectorized environment.
The following example shows how to wrap an environment for RL-Games and register the environment construction
for RL-Games :class:`Runner` class:
.. code-block:: python
from rl_games.common import env_configurations, vecenv
from omni.isaac.orbit_tasks.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
# configuration parameters
rl_device = "cuda:0"
clip_obs = 10.0
clip_actions = 1.0
# wrap around environment for rl-games
env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions)
# register the environment to rl-games registry
# note: in agents configuration: environment name must be "rlgpu"
vecenv.register(
"IsaacRlgWrapper", lambda config_name, num_actors, **kwargs: RlGamesGpuEnv(config_name, num_actors, **kwargs)
)
env_configurations.register("rlgpu", {"vecenv_type": "IsaacRlgWrapper", "env_creator": lambda **kwargs: env})
"""
from __future__ import annotations
import gym.spaces # needed for rl-games incompatibility: https://github.com/Denys88/rl_games/issues/261
import gymnasium
import torch
from rl_games.common import env_configurations
from rl_games.common.vecenv import IVecEnv
from omni.isaac.orbit.envs import RLTaskEnv, VecEnvObs
"""
Vectorized environment wrapper.
"""
class RlGamesVecEnvWrapper(IVecEnv):
"""Wraps around Orbit environment for RL-Games.
This class wraps around the Orbit environment. Since RL-Games works directly on
GPU buffers, the wrapper handles moving of buffers from the simulation environment
to the same device as the learning agent. Additionally, it performs clipping of
observations and actions.
For algorithms like asymmetric actor-critic, RL-Games expects a dictionary for
observations. This dictionary contains "obs" and "states" which typically correspond
to the actor and critic observations respectively.
To use asymmetric actor-critic, the environment observations from :class:`RLTaskEnv`
must have the key or group name "critic". The observation group is used to set the
:attr:`num_states` (int) and :attr:`state_space` (:obj:`gym.spaces.Box`). These are
used by the learning agent in RL-Games to allocate buffers in the trajectory memory.
Since this is optional for some environments, the wrapper checks if these attributes exist.
If they don't then the wrapper defaults to zero as number of privileged observations.
.. caution::
This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this
wrapper.
Reference:
https://github.com/Denys88/rl_games/blob/master/rl_games/common/ivecenv.py
https://github.com/NVIDIA-Omniverse/IsaacGymEnvs
"""
def __init__(self, env: RLTaskEnv, rl_device: str, clip_obs: float, clip_actions: float):
"""Initializes the wrapper instance.
Args:
env: The environment to wrap around.
rl_device: The device on which agent computations are performed.
clip_obs: The clipping value for observations.
clip_actions: The clipping value for actions.
Raises:
ValueError: The environment is not inherited from :class:`RLTaskEnv`.
ValueError: If specified, the privileged observations (critic) are not of type :obj:`gym.spaces.Box`.
"""
# check that input is valid
if not isinstance(env.unwrapped, RLTaskEnv):
raise ValueError(f"The environment must be inherited from RLTaskEnv. Environment type: {type(env)}")
# initialize the wrapper
self.env = env
# store provided arguments
self._rl_device = rl_device
self._clip_obs = clip_obs
self._clip_actions = clip_actions
self._sim_device = env.unwrapped.device
# information for privileged observations
if self.state_space is None:
self.rlg_num_states = 0
else:
self.rlg_num_states = self.state_space.shape[0]
def __str__(self):
"""Returns the wrapper name and the :attr:`env` representation string."""
return (
f"<{type(self).__name__}{self.env}>"
f"\n\tObservations clipping: {self._clip_obs}"
f"\n\tActions clipping : {self._clip_actions}"
f"\n\tAgent device : {self._rl_device}"
f"\n\tAsymmetric-learning : {self.rlg_num_states != 0}"
)
def __repr__(self):
"""Returns the string representation of the wrapper."""
return str(self)
"""
Properties -- Gym.Wrapper
"""
@property
def render_mode(self) -> str | None:
"""Returns the :attr:`Env` :attr:`render_mode`."""
return self.env.render_mode
@property
def observation_space(self) -> gym.spaces.Box:
"""Returns the :attr:`Env` :attr:`observation_space`."""
# note: rl-games only wants single observation space
policy_obs_space = self.unwrapped.single_observation_space["policy"]
if not isinstance(policy_obs_space, gymnasium.spaces.Box):
raise NotImplementedError(
f"The RL-Games wrapper does not currently support observation space: '{type(policy_obs_space)}'."
f" If you need to support this, please modify the wrapper: {self.__class__.__name__},"
" and if you are nice, please send a merge-request."
)
# note: maybe should check if we are a sub-set of the actual space. don't do it right now since
# in RLTaskEnv we are setting action space as (-inf, inf).
return gym.spaces.Box(-self._clip_obs, self._clip_obs, policy_obs_space.shape)
@property
def action_space(self) -> gym.Space:
"""Returns the :attr:`Env` :attr:`action_space`."""
# note: rl-games only wants single action space
action_space = self.unwrapped.single_action_space
if not isinstance(action_space, gymnasium.spaces.Box):
raise NotImplementedError(
f"The RL-Games wrapper does not currently support action space: '{type(action_space)}'."
f" If you need to support this, please modify the wrapper: {self.__class__.__name__},"
" and if you are nice, please send a merge-request."
)
# return casted space in gym.spaces.Box (OpenAI Gym)
# note: maybe should check if we are a sub-set of the actual space. don't do it right now since
# in RLTaskEnv we are setting action space as (-inf, inf).
return gym.spaces.Box(-self._clip_actions, self._clip_actions, action_space.shape)
@classmethod
def class_name(cls) -> str:
"""Returns the class name of the wrapper."""
return cls.__name__
@property
def unwrapped(self) -> RLTaskEnv:
"""Returns the base environment of the wrapper.
This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.
"""
return self.env.unwrapped
"""
Properties
"""
@property
def num_envs(self) -> int:
"""Returns the number of sub-environment instances."""
return self.unwrapped.num_envs
@property
def device(self) -> str:
"""Returns the base environment simulation device."""
return self.unwrapped.device
@property
def state_space(self) -> gym.spaces.Box | None:
"""Returns the :attr:`Env` :attr:`observation_space`."""
# note: rl-games only wants single observation space
critic_obs_space = self.unwrapped.single_observation_space.get("critic")
# check if we even have a critic obs
if critic_obs_space is None:
return None
elif not isinstance(critic_obs_space, gymnasium.spaces.Box):
raise NotImplementedError(
f"The RL-Games wrapper does not currently support state space: '{type(critic_obs_space)}'."
f" If you need to support this, please modify the wrapper: {self.__class__.__name__},"
" and if you are nice, please send a merge-request."
)
# return casted space in gym.spaces.Box (OpenAI Gym)
# note: maybe should check if we are a sub-set of the actual space. don't do it right now since
# in RLTaskEnv we are setting action space as (-inf, inf).
return gym.spaces.Box(-self._clip_obs, self._clip_obs, critic_obs_space.shape)
def get_number_of_agents(self) -> int:
"""Returns number of actors in the environment."""
return getattr(self, "num_agents", 1)
def get_env_info(self) -> dict:
"""Returns the Gym spaces for the environment."""
return {
"observation_space": self.observation_space,
"action_space": self.action_space,
"state_space": self.state_space,
}
"""
Operations - MDP
"""
def seed(self, seed: int = -1) -> int: # noqa: D102
return self.unwrapped.seed(seed)
def reset(self): # noqa: D102
obs_dict, _ = self.env.reset()
# process observations and states
return self._process_obs(obs_dict)
def step(self, actions): # noqa: D102
# move actions to sim-device
actions = actions.detach().clone().to(device=self._sim_device)
# clip the actions
actions = torch.clamp(actions, -self._clip_actions, self._clip_actions)
# perform environment step
obs_dict, rew, terminated, truncated, extras = self.env.step(actions)
# move time out information to the extras dict
# this is only needed for infinite horizon tasks
# note: only useful when `value_bootstrap` is True in the agent configuration
if not self.unwrapped.cfg.is_finite_horizon:
extras["time_outs"] = truncated.to(device=self._rl_device)
# process observations and states
obs_and_states = self._process_obs(obs_dict)
# move buffers to rl-device
# note: we perform clone to prevent issues when rl-device and sim-device are the same.
rew = rew.to(device=self._rl_device)
dones = (terminated | truncated).to(device=self._rl_device)
extras = {
k: v.to(device=self._rl_device, non_blocking=True) if hasattr(v, "to") else v for k, v in extras.items()
}
# remap extras from "log" to "episode"
if "log" in extras:
extras["episode"] = extras.pop("log")
return obs_and_states, rew, dones, extras
def close(self): # noqa: D102
return self.env.close()
"""
Helper functions
"""
def _process_obs(self, obs_dict: VecEnvObs) -> torch.Tensor | dict[str, torch.Tensor]:
"""Processing of the observations and states from the environment.
Note:
States typically refers to privileged observations for the critic function. It is typically used in
asymmetric actor-critic algorithms.
Args:
obs_dict: The current observations from environment.
Returns:
If environment provides states, then a dictionary containing the observations and states is returned.
Otherwise just the observations tensor is returned.
"""
# process policy obs
obs = obs_dict["policy"]
# clip the observations
obs = torch.clamp(obs, -self._clip_obs, self._clip_obs)
# move the buffer to rl-device
obs = obs.to(device=self._rl_device).clone()
# check if asymmetric actor-critic or not
if self.rlg_num_states > 0:
# acquire states from the environment if it exists
try:
states = obs_dict["critic"]
except AttributeError:
raise NotImplementedError("Environment does not define key 'critic' for privileged observations.")
# clip the states
states = torch.clamp(states, -self._clip_obs, self._clip_obs)
# move buffers to rl-device
states = states.to(self._rl_device).clone()
# convert to dictionary
return {"obs": obs, "states": states}
else:
return obs
"""
Environment Handler.
"""
class RlGamesGpuEnv(IVecEnv):
"""Thin wrapper to create instance of the environment to fit RL-Games runner."""
# TODO: Adding this for now but do we really need this?
def __init__(self, config_name: str, num_actors: int, **kwargs):
"""Initialize the environment.
Args:
config_name: The name of the environment configuration.
num_actors: The number of actors in the environment. This is not used in this wrapper.
"""
self.env: RlGamesVecEnvWrapper = env_configurations.configurations[config_name]["env_creator"](**kwargs)
def step(self, action): # noqa: D102
return self.env.step(action)
def reset(self): # noqa: D102
return self.env.reset()
def get_number_of_agents(self) -> int:
"""Get number of agents in the environment.
Returns:
The number of agents in the environment.
"""
return self.env.get_number_of_agents()
def get_env_info(self) -> dict:
"""Get the Gym spaces for the environment.
Returns:
The Gym spaces for the environment.
"""
return self.env.get_env_info()
| 13,736 | Python | 38.587896 | 117 | 0.637813 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Sub-module for environment wrappers to different learning frameworks.
Wrappers allow you to modify the behavior of an environment without modifying the environment itself.
This is useful for modifying the observation space, action space, or reward function. Additionally,
they can be used to cast a given environment into the respective environment class definition used by
different learning frameworks. This operation may include handling of asymmetric actor-critic observations,
casting the data between different backends such `numpy` and `pytorch`, or organizing the returned data
into the expected data structure by the learning framework.
All wrappers work similar to the :class:`gymnasium.Wrapper` class. Using a wrapper is as simple as passing
the initialized environment instance to the wrapper constructor. However, since learning frameworks
expect different input and output data structures, their wrapper classes are not compatible with each other.
Thus, they should always be used in conjunction with the respective learning framework.
For instance, to wrap an environment in the `Stable-Baselines3`_ wrapper, you can do the following:
.. code-block:: python
from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
env = Sb3VecEnvWrapper(env)
.. _RL-Games: https://github.com/Denys88/rl_games
.. _RSL-RL: https://github.com/leggedrobotics/rsl_rl
.. _skrl: https://github.com/Toni-SM/skrl
.. _Stable-Baselines3: https://github.com/DLR-RM/stable-baselines3
"""
| 1,629 | Python | 45.571427 | 108 | 0.794352 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/sb3.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Wrapper to configure an :class:`RLTaskEnv` instance to Stable-Baselines3 vectorized environment.
The following example shows how to wrap an environment for Stable-Baselines3:
.. code-block:: python
from omni.isaac.orbit_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper
env = Sb3VecEnvWrapper(env)
"""
from __future__ import annotations
import gymnasium as gym
import numpy as np
import torch
import torch.nn as nn # noqa: F401
from typing import Any
from stable_baselines3.common.utils import constant_fn
from stable_baselines3.common.vec_env.base_vec_env import VecEnv, VecEnvObs, VecEnvStepReturn
from omni.isaac.orbit.envs import RLTaskEnv
"""
Configuration Parser.
"""
def process_sb3_cfg(cfg: dict) -> dict:
"""Convert simple YAML types to Stable-Baselines classes/components.
Args:
cfg: A configuration dictionary.
Returns:
A dictionary containing the converted configuration.
Reference:
https://github.com/DLR-RM/rl-baselines3-zoo/blob/0e5eb145faefa33e7d79c7f8c179788574b20da5/utils/exp_manager.py#L358
"""
def update_dict(hyperparams: dict[str, Any]) -> dict[str, Any]:
for key, value in hyperparams.items():
if isinstance(value, dict):
update_dict(value)
else:
if key in ["policy_kwargs", "replay_buffer_class", "replay_buffer_kwargs"]:
hyperparams[key] = eval(value)
elif key in ["learning_rate", "clip_range", "clip_range_vf", "delta_std"]:
if isinstance(value, str):
_, initial_value = value.split("_")
initial_value = float(initial_value)
hyperparams[key] = lambda progress_remaining: progress_remaining * initial_value
elif isinstance(value, (float, int)):
# Negative value: ignore (ex: for clipping)
if value < 0:
continue
hyperparams[key] = constant_fn(float(value))
else:
raise ValueError(f"Invalid value for {key}: {hyperparams[key]}")
return hyperparams
# parse agent configuration and convert to classes
return update_dict(cfg)
"""
Vectorized environment wrapper.
"""
class Sb3VecEnvWrapper(VecEnv):
"""Wraps around Orbit environment for Stable Baselines3.
Isaac Sim internally implements a vectorized environment. However, since it is
still considered a single environment instance, Stable Baselines tries to wrap
around it using the :class:`DummyVecEnv`. This is only done if the environment
is not inheriting from their :class:`VecEnv`. Thus, this class thinly wraps
over the environment from :class:`RLTaskEnv`.
Note:
While Stable-Baselines3 supports Gym 0.26+ API, their vectorized environment
still uses the old API (i.e. it is closer to Gym 0.21). Thus, we implement
the old API for the vectorized environment.
We also add monitoring functionality that computes the un-discounted episode
return and length. This information is added to the info dicts under key `episode`.
In contrast to the Orbit environment, stable-baselines expect the following:
1. numpy datatype for MDP signals
2. a list of info dicts for each sub-environment (instead of a dict)
3. when environment has terminated, the observations from the environment should correspond
to the one after reset. The "real" final observation is passed using the info dicts
under the key ``terminal_observation``.
.. warning::
By the nature of physics stepping in Isaac Sim, it is not possible to forward the
simulation buffers without performing a physics step. Thus, reset is performed
inside the :meth:`step()` function after the actual physics step is taken.
Thus, the returned observations for terminated environments is the one after the reset.
.. caution::
This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this
wrapper.
Reference:
1. https://stable-baselines3.readthedocs.io/en/master/guide/vec_envs.html
2. https://stable-baselines3.readthedocs.io/en/master/common/monitor.html
"""
def __init__(self, env: RLTaskEnv):
"""Initialize the wrapper.
Args:
env: The environment to wrap around.
Raises:
ValueError: When the environment is not an instance of :class:`RLTaskEnv`.
"""
# check that input is valid
if not isinstance(env.unwrapped, RLTaskEnv):
raise ValueError(f"The environment must be inherited from RLTaskEnv. Environment type: {type(env)}")
# initialize the wrapper
self.env = env
# collect common information
self.num_envs = self.unwrapped.num_envs
self.sim_device = self.unwrapped.device
self.render_mode = self.unwrapped.render_mode
# obtain gym spaces
# note: stable-baselines3 does not like when we have unbounded action space so
# we set it to some high value here. Maybe this is not general but something to think about.
observation_space = self.unwrapped.single_observation_space["policy"]
action_space = self.unwrapped.single_action_space
if isinstance(action_space, gym.spaces.Box) and action_space.is_bounded() != "both":
action_space = gym.spaces.Box(low=-100, high=100, shape=action_space.shape)
# initialize vec-env
VecEnv.__init__(self, self.num_envs, observation_space, action_space)
# add buffer for logging episodic information
self._ep_rew_buf = torch.zeros(self.num_envs, device=self.sim_device)
self._ep_len_buf = torch.zeros(self.num_envs, device=self.sim_device)
def __str__(self):
"""Returns the wrapper name and the :attr:`env` representation string."""
return f"<{type(self).__name__}{self.env}>"
def __repr__(self):
"""Returns the string representation of the wrapper."""
return str(self)
"""
Properties -- Gym.Wrapper
"""
@classmethod
def class_name(cls) -> str:
"""Returns the class name of the wrapper."""
return cls.__name__
@property
def unwrapped(self) -> RLTaskEnv:
"""Returns the base environment of the wrapper.
This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.
"""
return self.env.unwrapped
"""
Properties
"""
def get_episode_rewards(self) -> list[float]:
"""Returns the rewards of all the episodes."""
return self._ep_rew_buf.cpu().tolist()
def get_episode_lengths(self) -> list[int]:
"""Returns the number of time-steps of all the episodes."""
return self._ep_len_buf.cpu().tolist()
"""
Operations - MDP
"""
def seed(self, seed: int | None = None) -> list[int | None]: # noqa: D102
return [self.unwrapped.seed(seed)] * self.unwrapped.num_envs
def reset(self) -> VecEnvObs: # noqa: D102
obs_dict, _ = self.env.reset()
# convert data types to numpy depending on backend
return self._process_obs(obs_dict)
def step_async(self, actions): # noqa: D102
# convert input to numpy array
if not isinstance(actions, torch.Tensor):
actions = np.asarray(actions)
actions = torch.from_numpy(actions).to(device=self.sim_device, dtype=torch.float32)
else:
actions = actions.to(device=self.sim_device, dtype=torch.float32)
# convert to tensor
self._async_actions = actions
def step_wait(self) -> VecEnvStepReturn: # noqa: D102
# record step information
obs_dict, rew, terminated, truncated, extras = self.env.step(self._async_actions)
# update episode un-discounted return and length
self._ep_rew_buf += rew
self._ep_len_buf += 1
# compute reset ids
dones = terminated | truncated
reset_ids = (dones > 0).nonzero(as_tuple=False)
# convert data types to numpy depending on backend
# note: RLTaskEnv uses torch backend (by default).
obs = self._process_obs(obs_dict)
rew = rew.detach().cpu().numpy()
terminated = terminated.detach().cpu().numpy()
truncated = truncated.detach().cpu().numpy()
dones = dones.detach().cpu().numpy()
# convert extra information to list of dicts
infos = self._process_extras(obs, terminated, truncated, extras, reset_ids)
# reset info for terminated environments
self._ep_rew_buf[reset_ids] = 0
self._ep_len_buf[reset_ids] = 0
return obs, rew, dones, infos
def close(self): # noqa: D102
self.env.close()
def get_attr(self, attr_name, indices=None): # noqa: D102
# resolve indices
if indices is None:
indices = slice(None)
num_indices = self.num_envs
else:
num_indices = len(indices)
# obtain attribute value
attr_val = getattr(self.env, attr_name)
# return the value
if not isinstance(attr_val, torch.Tensor):
return [attr_val] * num_indices
else:
return attr_val[indices].detach().cpu().numpy()
def set_attr(self, attr_name, value, indices=None): # noqa: D102
raise NotImplementedError("Setting attributes is not supported.")
def env_method(self, method_name: str, *method_args, indices=None, **method_kwargs): # noqa: D102
if method_name == "render":
# gymnasium does not support changing render mode at runtime
return self.env.render()
else:
# this isn't properly implemented but it is not necessary.
# mostly done for completeness.
env_method = getattr(self.env, method_name)
return env_method(*method_args, indices=indices, **method_kwargs)
def env_is_wrapped(self, wrapper_class, indices=None): # noqa: D102
raise NotImplementedError("Checking if environment is wrapped is not supported.")
def get_images(self): # noqa: D102
raise NotImplementedError("Getting images is not supported.")
"""
Helper functions.
"""
def _process_obs(self, obs_dict: torch.Tensor | dict[str, torch.Tensor]) -> np.ndarray | dict[str, np.ndarray]:
"""Convert observations into NumPy data type."""
# Sb3 doesn't support asymmetric observation spaces, so we only use "policy"
obs = obs_dict["policy"]
# note: RLTaskEnv uses torch backend (by default).
if isinstance(obs, dict):
for key, value in obs.items():
obs[key] = value.detach().cpu().numpy()
elif isinstance(obs, torch.Tensor):
obs = obs.detach().cpu().numpy()
else:
raise NotImplementedError(f"Unsupported data type: {type(obs)}")
return obs
def _process_extras(
self, obs: np.ndarray, terminated: np.ndarray, truncated: np.ndarray, extras: dict, reset_ids: np.ndarray
) -> list[dict[str, Any]]:
"""Convert miscellaneous information into dictionary for each sub-environment."""
# create empty list of dictionaries to fill
infos: list[dict[str, Any]] = [dict.fromkeys(extras.keys()) for _ in range(self.num_envs)]
# fill-in information for each sub-environment
# note: This loop becomes slow when number of environments is large.
for idx in range(self.num_envs):
# fill-in episode monitoring info
if idx in reset_ids:
infos[idx]["episode"] = dict()
infos[idx]["episode"]["r"] = float(self._ep_rew_buf[idx])
infos[idx]["episode"]["l"] = float(self._ep_len_buf[idx])
else:
infos[idx]["episode"] = None
# fill-in bootstrap information
infos[idx]["TimeLimit.truncated"] = truncated[idx] and not terminated[idx]
# fill-in information from extras
for key, value in extras.items():
# 1. remap extra episodes information safely
# 2. for others just store their values
if key == "log":
# only log this data for episodes that are terminated
if infos[idx]["episode"] is not None:
for sub_key, sub_value in value.items():
infos[idx]["episode"][sub_key] = sub_value
else:
infos[idx][key] = value[idx]
# add information about terminal observation separately
if idx in reset_ids:
# extract terminal observations
if isinstance(obs, dict):
terminal_obs = dict.fromkeys(obs.keys())
for key, value in obs.items():
terminal_obs[key] = value[idx]
else:
terminal_obs = obs[idx]
# add info to dict
infos[idx]["terminal_observation"] = terminal_obs
else:
infos[idx]["terminal_observation"] = None
# return list of dictionaries
return infos
| 13,621 | Python | 39.064706 | 123 | 0.620953 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Wrappers and utilities to configure an :class:`RLTaskEnv` for RSL-RL library."""
from .exporter import export_policy_as_jit, export_policy_as_onnx
from .rl_cfg import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
from .vecenv_wrapper import RslRlVecEnvWrapper
| 410 | Python | 36.363633 | 88 | 0.795122 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Wrapper to configure an :class:`RLTaskEnv` instance to RSL-RL vectorized environment.
The following example shows how to wrap an environment for RSL-RL:
.. code-block:: python
from omni.isaac.orbit_tasks.utils.wrappers.rsl_rl import RslRlVecEnvWrapper
env = RslRlVecEnvWrapper(env)
"""
from __future__ import annotations
import gymnasium as gym
import torch
from rsl_rl.env import VecEnv
from omni.isaac.orbit.envs import RLTaskEnv
class RslRlVecEnvWrapper(VecEnv):
"""Wraps around Orbit environment for RSL-RL library
To use asymmetric actor-critic, the environment instance must have the attributes :attr:`num_privileged_obs` (int).
This is used by the learning agent to allocate buffers in the trajectory memory. Additionally, the returned
observations should have the key "critic" which corresponds to the privileged observations. Since this is
optional for some environments, the wrapper checks if these attributes exist. If they don't then the wrapper
defaults to zero as number of privileged observations.
.. caution::
This class must be the last wrapper in the wrapper chain. This is because the wrapper does not follow
the :class:`gym.Wrapper` interface. Any subsequent wrappers will need to be modified to work with this
wrapper.
Reference:
https://github.com/leggedrobotics/rsl_rl/blob/master/rsl_rl/env/vec_env.py
"""
def __init__(self, env: RLTaskEnv):
"""Initializes the wrapper.
Note:
The wrapper calls :meth:`reset` at the start since the RSL-RL runner does not call reset.
Args:
env: The environment to wrap around.
Raises:
ValueError: When the environment is not an instance of :class:`RLTaskEnv`.
"""
# check that input is valid
if not isinstance(env.unwrapped, RLTaskEnv):
raise ValueError(f"The environment must be inherited from RLTaskEnv. Environment type: {type(env)}")
# initialize the wrapper
self.env = env
# store information required by wrapper
self.num_envs = self.unwrapped.num_envs
self.device = self.unwrapped.device
self.max_episode_length = self.unwrapped.max_episode_length
self.num_actions = self.unwrapped.action_manager.total_action_dim
self.num_obs = self.unwrapped.observation_manager.group_obs_dim["policy"][0]
# -- privileged observations
if "critic" in self.unwrapped.observation_manager.group_obs_dim:
self.num_privileged_obs = self.unwrapped.observation_manager.group_obs_dim["critic"][0]
else:
self.num_privileged_obs = 0
# reset at the start since the RSL-RL runner does not call reset
self.env.reset()
def __str__(self):
"""Returns the wrapper name and the :attr:`env` representation string."""
return f"<{type(self).__name__}{self.env}>"
def __repr__(self):
"""Returns the string representation of the wrapper."""
return str(self)
"""
Properties -- Gym.Wrapper
"""
@property
def cfg(self) -> object:
"""Returns the configuration class instance of the environment."""
return self.unwrapped.cfg
@property
def render_mode(self) -> str | None:
"""Returns the :attr:`Env` :attr:`render_mode`."""
return self.env.render_mode
@property
def observation_space(self) -> gym.Space:
"""Returns the :attr:`Env` :attr:`observation_space`."""
return self.env.observation_space
@property
def action_space(self) -> gym.Space:
"""Returns the :attr:`Env` :attr:`action_space`."""
return self.env.action_space
@classmethod
def class_name(cls) -> str:
"""Returns the class name of the wrapper."""
return cls.__name__
@property
def unwrapped(self) -> RLTaskEnv:
"""Returns the base environment of the wrapper.
This will be the bare :class:`gymnasium.Env` environment, underneath all layers of wrappers.
"""
return self.env.unwrapped
"""
Properties
"""
def get_observations(self) -> tuple[torch.Tensor, dict]:
"""Returns the current observations of the environment."""
obs_dict = self.unwrapped.observation_manager.compute()
return obs_dict["policy"], {"observations": obs_dict}
@property
def episode_length_buf(self) -> torch.Tensor:
"""The episode length buffer."""
return self.unwrapped.episode_length_buf
@episode_length_buf.setter
def episode_length_buf(self, value: torch.Tensor):
"""Set the episode length buffer.
Note:
This is needed to perform random initialization of episode lengths in RSL-RL.
"""
self.unwrapped.episode_length_buf = value
"""
Operations - MDP
"""
def seed(self, seed: int = -1) -> int: # noqa: D102
return self.unwrapped.seed(seed)
def reset(self) -> tuple[torch.Tensor, dict]: # noqa: D102
# reset the environment
obs_dict, _ = self.env.reset()
# return observations
return obs_dict["policy"], {"observations": obs_dict}
def step(self, actions: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor, dict]:
# record step information
obs_dict, rew, terminated, truncated, extras = self.env.step(actions)
# compute dones for compatibility with RSL-RL
dones = (terminated | truncated).to(dtype=torch.long)
# move extra observations to the extras dict
obs = obs_dict["policy"]
extras["observations"] = obs_dict
# move time out information to the extras dict
# this is only needed for infinite horizon tasks
if not self.unwrapped.cfg.is_finite_horizon:
extras["time_outs"] = truncated
# return the step information
return obs, rew, dones, extras
def close(self): # noqa: D102
return self.env.close()
| 6,155 | Python | 33.779661 | 119 | 0.651503 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/exporter.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
import copy
import os
import torch
def export_policy_as_jit(actor_critic: object, path: str, filename="policy.pt"):
"""Export policy into a Torch JIT file.
Args:
actor_critic: The actor-critic torch module.
path: The path to the saving directory.
filename: The name of exported JIT file. Defaults to "policy.pt".
Reference:
https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/utils/helpers.py#L180
"""
policy_exporter = _TorchPolicyExporter(actor_critic)
policy_exporter.export(path, filename)
def export_policy_as_onnx(actor_critic: object, path: str, filename="policy.onnx", verbose=False):
"""Export policy into a Torch ONNX file.
Args:
actor_critic: The actor-critic torch module.
path: The path to the saving directory.
filename: The name of exported JIT file. Defaults to "policy.pt".
verbose: Whether to print the model summary. Defaults to False.
"""
if not os.path.exists(path):
os.makedirs(path, exist_ok=True)
policy_exporter = _OnnxPolicyExporter(actor_critic, verbose)
policy_exporter.export(path, filename)
"""
Helper Classes - Private.
"""
class _TorchPolicyExporter(torch.nn.Module):
"""Exporter of actor-critic into JIT file.
Reference:
https://github.com/leggedrobotics/legged_gym/blob/master/legged_gym/utils/helpers.py#L193
"""
def __init__(self, actor_critic):
super().__init__()
self.actor = copy.deepcopy(actor_critic.actor)
self.is_recurrent = actor_critic.is_recurrent
if self.is_recurrent:
self.rnn = copy.deepcopy(actor_critic.memory_a.rnn)
self.rnn.cpu()
self.register_buffer("hidden_state", torch.zeros(self.rnn.num_layers, 1, self.rnn.hidden_size))
self.register_buffer("cell_state", torch.zeros(self.rnn.num_layers, 1, self.rnn.hidden_size))
self.forward = self.forward_lstm
self.reset = self.reset_memory
def forward_lstm(self, x):
x, (h, c) = self.rnn(x.unsqueeze(0), (self.hidden_state, self.cell_state))
self.hidden_state[:] = h
self.cell_state[:] = c
x = x.squeeze(0)
return self.actor(x)
def forward(self, x):
return self.actor(x)
@torch.jit.export
def reset(self):
pass
def reset_memory(self):
self.hidden_state[:] = 0.0
self.cell_state[:] = 0.0
def export(self, path, filename):
os.makedirs(path, exist_ok=True)
path = os.path.join(path, filename)
self.to("cpu")
traced_script_module = torch.jit.script(self)
traced_script_module.save(path)
class _OnnxPolicyExporter(torch.nn.Module):
"""Exporter of actor-critic into ONNX file."""
def __init__(self, actor_critic, verbose=False):
super().__init__()
self.verbose = verbose
self.actor = copy.deepcopy(actor_critic.actor)
self.is_recurrent = actor_critic.is_recurrent
if self.is_recurrent:
self.rnn = copy.deepcopy(actor_critic.memory_a.rnn)
self.rnn.cpu()
self.forward = self.forward_lstm
def forward_lstm(self, x_in, h_in, c_in):
x, (h, c) = self.rnn(x_in.unsqueeze(0), (h_in, c_in))
x = x.squeeze(0)
return self.actor(x), h, c
def forward(self, x):
return self.actor(x)
def export(self, path, filename):
self.to("cpu")
if self.is_recurrent:
obs = torch.zeros(1, self.rnn.input_size)
h_in = torch.zeros(self.rnn.num_layers, 1, self.rnn.hidden_size)
c_in = torch.zeros(self.rnn.num_layers, 1, self.rnn.hidden_size)
actions, h_out, c_out = self(obs, h_in, c_in)
torch.onnx.export(
self,
(obs, h_in, c_in),
os.path.join(path, filename),
export_params=True,
opset_version=11,
verbose=self.verbose,
input_names=["obs", "h_in", "c_in"],
output_names=["actions", "h_out", "c_out"],
dynamic_axes={},
)
else:
obs = torch.zeros(1, self.actor[0].in_features)
torch.onnx.export(
self,
obs,
os.path.join(path, filename),
export_params=True,
opset_version=11,
verbose=self.verbose,
input_names=["obs"],
output_names=["actions"],
dynamic_axes={},
)
| 4,718 | Python | 32 | 107 | 0.583934 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/wrappers/rsl_rl/rl_cfg.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from dataclasses import MISSING
from typing import Literal
from omni.isaac.orbit.utils import configclass
@configclass
class RslRlPpoActorCriticCfg:
"""Configuration for the PPO actor-critic networks."""
class_name: str = "ActorCritic"
"""The policy class name. Default is ActorCritic."""
init_noise_std: float = MISSING
"""The initial noise standard deviation for the policy."""
actor_hidden_dims: list[int] = MISSING
"""The hidden dimensions of the actor network."""
critic_hidden_dims: list[int] = MISSING
"""The hidden dimensions of the critic network."""
activation: str = MISSING
"""The activation function for the actor and critic networks."""
@configclass
class RslRlPpoAlgorithmCfg:
"""Configuration for the PPO algorithm."""
class_name: str = "PPO"
"""The algorithm class name. Default is PPO."""
value_loss_coef: float = MISSING
"""The coefficient for the value loss."""
use_clipped_value_loss: bool = MISSING
"""Whether to use clipped value loss."""
clip_param: float = MISSING
"""The clipping parameter for the policy."""
entropy_coef: float = MISSING
"""The coefficient for the entropy loss."""
num_learning_epochs: int = MISSING
"""The number of learning epochs per update."""
num_mini_batches: int = MISSING
"""The number of mini-batches per update."""
learning_rate: float = MISSING
"""The learning rate for the policy."""
schedule: str = MISSING
"""The learning rate schedule."""
gamma: float = MISSING
"""The discount factor."""
lam: float = MISSING
"""The lambda parameter for Generalized Advantage Estimation (GAE)."""
desired_kl: float = MISSING
"""The desired KL divergence."""
max_grad_norm: float = MISSING
"""The maximum gradient norm."""
@configclass
class RslRlOnPolicyRunnerCfg:
"""Configuration of the runner for on-policy algorithms."""
seed: int = 42
"""The seed for the experiment. Default is 42."""
device: str = "cuda"
"""The device for the rl-agent. Default is cuda."""
num_steps_per_env: int = MISSING
"""The number of steps per environment per update."""
max_iterations: int = MISSING
"""The maximum number of iterations."""
empirical_normalization: bool = MISSING
"""Whether to use empirical normalization."""
policy: RslRlPpoActorCriticCfg = MISSING
"""The policy configuration."""
algorithm: RslRlPpoAlgorithmCfg = MISSING
"""The algorithm configuration."""
##
# Checkpointing parameters
##
save_interval: int = MISSING
"""The number of iterations between saves."""
experiment_name: str = MISSING
"""The experiment name."""
run_name: str = ""
"""The run name. Default is empty string.
The name of the run directory is typically the time-stamp at execution. If the run name is not empty,
then it is appended to the run directory's name, i.e. the logging directory's name will become
``{time-stamp}_{run_name}``.
"""
##
# Logging parameters
##
logger: Literal["tensorboard", "neptune", "wandb"] = "tensorboard"
"""The logger to use. Default is tensorboard."""
neptune_project: str = "orbit"
"""The neptune project name. Default is "orbit"."""
wandb_project: str = "orbit"
"""The wandb project name. Default is "orbit"."""
##
# Loading parameters
##
resume: bool = False
"""Whether to resume. Default is False."""
load_run: str = ".*"
"""The run directory to load. Default is ".*" (all).
If regex expression, the latest (alphabetical order) matching run will be loaded.
"""
load_checkpoint: str = "model_.*.pt"
"""The checkpoint file to load. Default is ``"model_.*.pt"`` (all).
If regex expression, the latest (alphabetical order) matching file will be loaded.
"""
| 4,062 | Python | 25.730263 | 105 | 0.655835 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/__init__.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Sub-module for data collection utilities.
All post-processed robomimic compatible datasets share the same data structure.
A single dataset is a single HDF5 file. The stored data follows the structure provided
`here <https://robomimic.github.io/docs/datasets/overview.html#dataset-structure>`_.
The collector takes input data in its batched format and stores them as different
demonstrations, each corresponding to a given environment index. The demonstrations are
flushed to disk when the :meth:`RobomimicDataCollector.flush` is called for the
respective environments. All the data is saved when the
:meth:`RobomimicDataCollector.close()` is called.
The following sample shows how to use the :class:`RobomimicDataCollector` to store
random data in a dataset.
.. code-block:: python
import os
import torch
from omni.isaac.orbit_tasks.utils.data_collector import RobomimicDataCollector
# name of the environment (needed by robomimic)
task_name = "Isaac-Franka-Lift-v0"
# specify directory for logging experiments
test_dir = os.path.dirname(os.path.abspath(__file__))
log_dir = os.path.join(test_dir, "logs", "demos")
# name of the file to save data
filename = "hdf_dataset.hdf5"
# number of episodes to collect
num_demos = 10
# number of environments to simulate
num_envs = 4
# create data-collector
collector_interface = RobomimicDataCollector(task_name, log_dir, filename, num_demos)
# reset the collector
collector_interface.reset()
while not collector_interface.is_stopped():
# generate random data to store
# -- obs
obs = {
"joint_pos": torch.randn(num_envs, 10),
"joint_vel": torch.randn(num_envs, 10)
}
# -- actions
actions = torch.randn(num_envs, 10)
# -- rewards
rewards = torch.randn(num_envs)
# -- dones
dones = torch.rand(num_envs) > 0.5
# store signals
# -- obs
for key, value in obs.items():
collector_interface.add(f"obs/{key}", value)
# -- actions
collector_interface.add("actions", actions)
# -- next_obs
for key, value in obs.items():
collector_interface.add(f"next_obs/{key}", value.cpu().numpy())
# -- rewards
collector_interface.add("rewards", rewards)
# -- dones
collector_interface.add("dones", dones)
# flush data from collector for successful environments
# note: in this case we flush all the time
reset_env_ids = dones.nonzero(as_tuple=False).squeeze(-1)
collector_interface.flush(reset_env_ids)
# close collector
collector_interface.close()
"""
from .robomimic_data_collector import RobomimicDataCollector
| 2,834 | Python | 32.352941 | 88 | 0.688073 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/omni/isaac/orbit_tasks/utils/data_collector/robomimic_data_collector.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Interface to collect and store data from the environment using format from `robomimic`."""
from __future__ import annotations
import h5py
import json
import numpy as np
import os
import torch
from collections.abc import Iterable
import carb
class RobomimicDataCollector:
"""Data collection interface for robomimic.
This class implements a data collector interface for saving simulation states to disk.
The data is stored in `HDF5`_ binary data format. The class is useful for collecting
demonstrations. The collected data follows the `structure`_ from robomimic.
All datasets in `robomimic` require the observations and next observations obtained
from before and after the environment step. These are stored as a dictionary of
observations in the keys "obs" and "next_obs" respectively.
For certain agents in `robomimic`, the episode data should have the following
additional keys: "actions", "rewards", "dones". This behavior can be altered by changing
the dataset keys required in the training configuration for the respective learning agent.
For reference on datasets, please check the robomimic `documentation`.
.. _HDF5: https://www.h5py.org/
.. _structure: https://robomimic.github.io/docs/datasets/overview.html#dataset-structure
.. _documentation: https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/config/base_config.py#L167-L173
"""
def __init__(
self,
env_name: str,
directory_path: str,
filename: str = "test",
num_demos: int = 1,
flush_freq: int = 1,
env_config: dict | None = None,
):
"""Initializes the data collection wrapper.
Args:
env_name: The name of the environment.
directory_path: The path to store collected data.
filename: The basename of the saved file. Defaults to "test".
num_demos: Number of demonstrations to record until stopping. Defaults to 1.
flush_freq: Frequency to dump data to disk. Defaults to 1.
env_config: The configuration for the environment. Defaults to None.
"""
# save input arguments
self._env_name = env_name
self._env_config = env_config
self._directory = os.path.abspath(directory_path)
self._filename = filename
self._num_demos = num_demos
self._flush_freq = flush_freq
# print info
print(self.__str__())
# create directory it doesn't exist
if not os.path.isdir(self._directory):
os.makedirs(self._directory)
# placeholder for current hdf5 file object
self._h5_file_stream = None
self._h5_data_group = None
self._h5_episode_group = None
# store count of demos within episode
self._demo_count = 0
# flags for setting up
self._is_first_interaction = True
self._is_stop = False
# create buffers to store data
self._dataset = dict()
def __del__(self):
"""Destructor for data collector."""
if not self._is_stop:
self.close()
def __str__(self) -> str:
"""Represents the data collector as a string."""
msg = "Dataset collector <class RobomimicDataCollector> object"
msg += f"\tStoring trajectories in directory: {self._directory}\n"
msg += f"\tNumber of demos for collection : {self._num_demos}\n"
msg += f"\tFrequency for saving data to disk: {self._flush_freq}\n"
return msg
"""
Properties
"""
@property
def demo_count(self) -> int:
"""The number of demos collected so far."""
return self._demo_count
"""
Operations.
"""
def is_stopped(self) -> bool:
"""Whether data collection is stopped or not.
Returns:
True if data collection has stopped.
"""
return self._is_stop
def reset(self):
"""Reset the internals of data logger."""
# setup the file to store data in
if self._is_first_interaction:
self._demo_count = 0
self._create_new_file(self._filename)
self._is_first_interaction = False
# clear out existing buffers
self._dataset = dict()
def add(self, key: str, value: np.ndarray | torch.Tensor):
"""Add a key-value pair to the dataset.
The key can be nested by using the "/" character. For example:
"obs/joint_pos". Currently only two-level nesting is supported.
Args:
key: The key name.
value: The corresponding value
of shape (N, ...), where `N` is number of environments.
Raises:
ValueError: When provided key has sub-keys more than 2. Example: "obs/joints/pos", instead
of "obs/joint_pos".
"""
# check if data should be recorded
if self._is_first_interaction:
carb.log_warn("Please call reset before adding new data. Calling reset...")
self.reset()
if self._is_stop:
carb.log_warn(f"Desired number of demonstrations collected: {self._demo_count} >= {self._num_demos}.")
return
# check datatype
if isinstance(value, torch.Tensor):
value = value.cpu().numpy()
else:
value = np.asarray(value)
# check if there are sub-keys
sub_keys = key.split("/")
num_sub_keys = len(sub_keys)
if len(sub_keys) > 2:
raise ValueError(f"Input key '{key}' has elements {num_sub_keys} which is more than two.")
# add key to dictionary if it doesn't exist
for i in range(value.shape[0]):
# demo index
if f"env_{i}" not in self._dataset:
self._dataset[f"env_{i}"] = dict()
# key index
if num_sub_keys == 2:
# create keys
if sub_keys[0] not in self._dataset[f"env_{i}"]:
self._dataset[f"env_{i}"][sub_keys[0]] = dict()
if sub_keys[1] not in self._dataset[f"env_{i}"][sub_keys[0]]:
self._dataset[f"env_{i}"][sub_keys[0]][sub_keys[1]] = list()
# add data to key
self._dataset[f"env_{i}"][sub_keys[0]][sub_keys[1]].append(value[i])
else:
# create keys
if sub_keys[0] not in self._dataset[f"env_{i}"]:
self._dataset[f"env_{i}"][sub_keys[0]] = list()
# add data to key
self._dataset[f"env_{i}"][sub_keys[0]].append(value[i])
def flush(self, env_ids: Iterable[int] = (0,)):
"""Flush the episode data based on environment indices.
Args:
env_ids: Environment indices to write data for. Defaults to (0).
"""
# check that data is being recorded
if self._h5_file_stream is None or self._h5_data_group is None:
carb.log_error("No file stream has been opened. Please call reset before flushing data.")
return
# iterate over each environment and add their data
for index in env_ids:
# data corresponding to demo
env_dataset = self._dataset[f"env_{index}"]
# create episode group based on demo count
h5_episode_group = self._h5_data_group.create_group(f"demo_{self._demo_count}")
# store number of steps taken
h5_episode_group.attrs["num_samples"] = len(env_dataset["actions"])
# store other data from dictionary
for key, value in env_dataset.items():
if isinstance(value, dict):
# create group
key_group = h5_episode_group.create_group(key)
# add sub-keys values
for sub_key, sub_value in value.items():
key_group.create_dataset(sub_key, data=np.array(sub_value))
else:
h5_episode_group.create_dataset(key, data=np.array(value))
# increment total step counts
self._h5_data_group.attrs["total"] += h5_episode_group.attrs["num_samples"]
# increment total demo counts
self._demo_count += 1
# reset buffer for environment
self._dataset[f"env_{index}"] = dict()
# dump at desired frequency
if self._demo_count % self._flush_freq == 0:
self._h5_file_stream.flush()
print(f">>> Flushing data to disk. Collected demos: {self._demo_count} / {self._num_demos}")
# if demos collected then stop
if self._demo_count >= self._num_demos:
print(f">>> Desired number of demonstrations collected: {self._demo_count} >= {self._num_demos}.")
self.close()
# break out of loop
break
def close(self):
"""Stop recording and save the file at its current state."""
if not self._is_stop:
print(f">>> Closing recording of data. Collected demos: {self._demo_count} / {self._num_demos}")
# close the file safely
if self._h5_file_stream is not None:
self._h5_file_stream.close()
# mark that data collection is stopped
self._is_stop = True
"""
Helper functions.
"""
def _create_new_file(self, fname: str):
"""Create a new HDF5 file for writing episode info into.
Reference:
https://robomimic.github.io/docs/datasets/overview.html
Args:
fname: The base name of the file.
"""
if not fname.endswith(".hdf5"):
fname += ".hdf5"
# define path to file
hdf5_path = os.path.join(self._directory, fname)
# construct the stream object
self._h5_file_stream = h5py.File(hdf5_path, "w")
# create group to store data
self._h5_data_group = self._h5_file_stream.create_group("data")
# stores total number of samples accumulated across demonstrations
self._h5_data_group.attrs["total"] = 0
# store the environment meta-info
# -- we use gym environment type
# Ref: https://github.com/ARISE-Initiative/robomimic/blob/master/robomimic/envs/env_base.py#L15
env_type = 2
# -- check if env config provided
if self._env_config is None:
self._env_config = dict()
# -- add info
self._h5_data_group.attrs["env_args"] = json.dumps({
"env_name": self._env_name,
"type": env_type,
"env_kwargs": self._env_config,
})
| 10,835 | Python | 37.425532 | 122 | 0.579788 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/docs/CHANGELOG.rst | Changelog
---------
0.6.0 (2024-03-10)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Added a new environment ``Isaac-Open-Drawer-Franka-v0`` for the Franka arm to open a drawer. It is
based on the IsaacGymEnvs cabinet environment.
Fixed
^^^^^
* Fixed logging of extra information for RL-Games wrapper. It expected the extra information to be under the
key ``"episode"``, but Orbit used the key ``"log"``. The wrapper now remaps the key to ``"episode"``.
0.5.7 (2024-02-28)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Updated the RL wrapper for the skrl library to the latest release (>= 1.1.0)
0.5.6 (2024-02-21)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed the configuration parsing to support a pre-initialized configuration object.
0.5.5 (2024-02-05)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Pinned :mod:`torch` version to 2.0.1 in the setup.py to keep parity version of :mod:`torch` supplied by
Isaac 2023.1.1, and prevent version incompatibility between :mod:`torch` ==2.2 and
:mod:`typing-extensions` ==3.7.4.3
0.5.4 (2024-02-06)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Added a check for the flag :attr:`omni.isaac.orbit.envs.RLTaskEnvCfg.is_finite_horizon`
in the RSL-RL and RL-Games wrappers to handle the finite horizon tasks properly. Earlier,
the wrappers were always assuming the tasks to be infinite horizon tasks and returning a
time-out signals when the episode length was reached.
0.5.3 (2023-11-16)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Added raising of error in the :meth:`omni.isaac.orbit_tasks.utils.importer.import_all` method to make sure
all the packages are imported properly. Previously, error was being caught and ignored.
0.5.2 (2023-11-08)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed the RL wrappers for Stable-Baselines3 and RL-Games. It now works with their most recent versions.
* Fixed the :meth:`get_checkpoint_path` to allow any in-between sub-folders between the run directory and the
checkpoint directory.
0.5.1 (2023-11-04)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed the wrappers to different learning frameworks to use the new :class:`omni.isaac.orbit_tasks.RLTaskEnv` class.
The :class:`RLTaskEnv` class inherits from the :class:`gymnasium.Env` class (Gym 0.29.0).
* Fixed the registration of tasks in the Gym registry based on Gym 0.29.0 API.
Changed
^^^^^^^
* Removed the inheritance of all the RL-framework specific wrappers from the :class:`gymnasium.Wrapper` class.
This is because the wrappers don't comply with the new Gym 0.29.0 API. The wrappers are now only inherit
from their respective RL-framework specific base classes.
0.5.0 (2023-10-30)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Changed the way agent configs are handled for environments and learning agents. Switched from yaml to configclasses.
Fixed
^^^^^
* Fixed the way package import automation is handled in the :mod:`omni.isaac.orbit_tasks` module. Earlier it was
not skipping the blacklisted packages properly.
0.4.3 (2023-09-25)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Added future import of ``annotations`` to have a consistent behavior across Python versions.
* Removed the type-hinting from docstrings to simplify maintenance of the documentation. All type-hints are
now in the code itself.
0.4.2 (2023-08-29)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Moved the base environment definition to the :class:`omni.isaac.orbit.envs.RLEnv` class. The :class:`RLEnv`
contains RL-specific managers such as the reward, termination, randomization and curriculum managers. These
are all configured using the :class:`omni.isaac.orbit.envs.RLEnvConfig` class. The :class:`RLEnv` class
inherits from the :class:`omni.isaac.orbit.envs.BaseEnv` and ``gym.Env`` classes.
Fixed
^^^^^
* Adapted the wrappers to use the new :class:`omni.isaac.orbit.envs.RLEnv` class.
0.4.1 (2023-08-02)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Adapted the base :class:`IsaacEnv` class to use the :class:`SimulationContext` class from the
:mod:`omni.isaac.orbit.sim` module. This simplifies setting of simulation parameters.
0.4.0 (2023-07-26)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Removed the resetting of environment indices in the step call of the :class:`IsaacEnv` class.
This must be handled in the :math:`_step_impl`` function by the inherited classes.
* Adapted the wrapper for RSL-RL library its new API.
Fixed
^^^^^
* Added handling of no checkpoint available error in the :meth:`get_checkpoint_path`.
* Fixed the locomotion environment for rough terrain locomotion training.
0.3.2 (2023-07-22)
~~~~~~~~~~~~~~~~~~
Added
^^^^^^^
* Added a UI to the :class:`IsaacEnv` class to enable/disable rendering of the viewport when not running in
headless mode.
Fixed
^^^^^
* Fixed the the issue with environment returning transition tuples even when the simulation is paused.
* Fixed the shutdown of the simulation when the environment is closed.
0.3.1 (2023-06-23)
~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Changed the argument ``headless`` in :class:`IsaacEnv` class to ``render``, in order to cause less confusion
about rendering and headless-ness, i.e. that you can render while headless.
0.3.0 (2023-04-14)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Added a new flag ``viewport`` to the :class:`IsaacEnv` class to enable/disable rendering of the viewport.
If the flag is set to ``True``, the viewport is enabled and the environment is rendered in the background.
* Updated the training scripts in the ``source/standalone/workflows`` directory to use the new flag ``viewport``.
If the CLI argument ``--video`` is passed, videos are recorded in the ``videos`` directory using the
:class:`gym.wrappers.RecordVideo` wrapper.
Changed
^^^^^^^
* The :class:`IsaacEnv` class supports different rendering mode as referenced in OpenAI Gym's ``render`` method.
These modes are:
* ``rgb_array``: Renders the environment in the background and returns the rendered image as a numpy array.
* ``human``: Renders the environment in the background and displays the rendered image in a window.
* Changed the constructor in the classes inheriting from :class:`IsaacEnv` to pass all the keyword arguments to the
constructor of :class:`IsaacEnv` class.
Fixed
^^^^^
* Clarified the documentation of ``headless`` flag in the :class:`IsaacEnv` class. It refers to whether or not
to render at every sim step, not whether to render the viewport or not.
* Fixed the unit tests for running random agent on included environments.
0.2.3 (2023-03-06)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Tuned the observations and rewards for ``Isaac-Lift-Franka-v0`` environment.
0.2.2 (2023-03-04)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed the issue with rigid object not working in the ``Isaac-Lift-Franka-v0`` environment.
0.2.1 (2023-03-01)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Added a flag ``disable_contact_processing`` to the :class:`SimCfg` class to handle
contact processing effectively when using TensorAPIs for contact reporting.
* Added verbosity flag to :meth:`export_policy_as_onnx` to print model summary.
Fixed
^^^^^
* Clarified the documentation of flags in the :class:`SimCfg` class.
* Added enabling of ``omni.kit.viewport`` and ``omni.replicator.isaac`` extensions
dynamically to maintain order in the startup of extensions.
* Corrected the experiment names in the configuration files for training environments with ``rsl_rl``.
Changed
^^^^^^^
* Changed the default value of ``enable_scene_query_support`` in :class:`SimCfg` class to False.
The flag is overridden to True inside :class:`IsaacEnv` class when running the simulation in
non-headless mode.
0.2.0 (2023-01-25)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Added environment wrapper and sequential trainer for the skrl RL library
* Added training/evaluation configuration files for the skrl RL library
0.1.2 (2023-01-19)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Added the flag ``replicate_physics`` to the :class:`SimCfg` class.
* Increased the default value of ``gpu_found_lost_pairs_capacity`` in :class:`PhysxCfg` class
0.1.1 (2023-01-18)
~~~~~~~~~~~~~~~~~~
Fixed
^^^^^
* Fixed a bug in ``Isaac-Velocity-Anymal-C-v0`` where the domain randomization is
not applicable if cloning the environments with ``replicate_physics=True``.
0.1.0 (2023-01-17)
~~~~~~~~~~~~~~~~~~
Added
^^^^^
* Initial release of the extension.
* Includes the following environments:
* ``Isaac-Cartpole-v0``: A cartpole environment with a continuous action space.
* ``Isaac-Ant-v0``: A 3D ant environment with a continuous action space.
* ``Isaac-Humanoid-v0``: A 3D humanoid environment with a continuous action space.
* ``Isaac-Reach-Franka-v0``: A end-effector pose tracking task for the Franka arm.
* ``Isaac-Lift-Franka-v0``: A 3D object lift and reposing task for the Franka arm.
* ``Isaac-Velocity-Anymal-C-v0``: An SE(2) velocity tracking task for legged robot on flat terrain.
| 8,839 | reStructuredText | 27.516129 | 118 | 0.694422 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit_tasks/docs/README.md | # Orbit: Environment Suite
Using the core framework developed as part of Orbit, we provide various learning environments for robotics research.
These environments follow the `gym.Env` API from OpenAI Gym version `0.21.0`. The environments are registered using
the Gym registry.
Each environment's name is composed of `Isaac-<Task>-<Robot>-v<X>`, where `<Task>` indicates the skill to learn
in the environment, `<Robot>` indicates the embodiment of the acting agent, and `<X>` represents the version of
the environment (which can be used to suggest different observation or action spaces).
The environments are configured using either Python classes (wrapped using `configclass` decorator) or through
YAML files. The template structure of the environment is always put at the same level as the environment file
itself. However, its various instances are included in directories within the environment directory itself.
This looks like as follows:
```tree
omni/isaac/orbit_tasks/locomotion/
├── __init__.py
└── velocity
├── config
│ └── anymal_c
│ ├── agent # <- this is where we store the learning agent configurations
│ ├── __init__.py # <- this is where we register the environment and configurations to gym registry
│ ├── flat_env_cfg.py
│ └── rough_env_cfg.py
├── __init__.py
└── velocity_env_cfg.py # <- this is the base task configuration
```
The environments are then registered in the `omni/isaac/orbit_tasks/locomotion/velocity/config/anymal_c/__init__.py`:
```python
gym.register(
id="Isaac-Velocity-Rough-Anymal-C-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={"env_cfg_entry_point": f"{__name__}.rough_env_cfg:AnymalCRoughEnvCfg"},
)
gym.register(
id="Isaac-Velocity-Flat-Anymal-C-v0",
entry_point="omni.isaac.orbit.envs:RLTaskEnv",
disable_env_checker=True,
kwargs={"env_cfg_entry_point": f"{__name__}.flat_env_cfg:AnymalCFlatEnvCfg"},
)
```
> **Note:** As a practice, we specify all the environments in a single file to avoid name conflicts between different
> tasks or environments. However, this practice is debatable and we are open to suggestions to deal with a large
> scaling in the number of tasks or environments.
| 2,275 | Markdown | 43.62745 | 117 | 0.722198 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/setup.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Installation script for the 'omni.isaac.orbit' python package."""
import os
import toml
from setuptools import setup
# Obtain the extension data from the extension.toml file
EXTENSION_PATH = os.path.dirname(os.path.realpath(__file__))
# Read the extension.toml file
EXTENSION_TOML_DATA = toml.load(os.path.join(EXTENSION_PATH, "config", "extension.toml"))
# Minimum dependencies required prior to installation
INSTALL_REQUIRES = [
# generic
"numpy",
"torch==2.0.1",
"prettytable==3.3.0",
"tensordict",
# devices
"hidapi",
# gym
"gymnasium==0.29.0",
# procedural-generation
"trimesh",
"pyglet<2",
]
# Installation operation
setup(
name="omni-isaac-orbit",
author="ORBIT Project Developers",
maintainer="Mayank Mittal",
maintainer_email="[email protected]",
url=EXTENSION_TOML_DATA["package"]["repository"],
version=EXTENSION_TOML_DATA["package"]["version"],
description=EXTENSION_TOML_DATA["package"]["description"],
keywords=EXTENSION_TOML_DATA["package"]["keywords"],
license="BSD-3-Clause",
include_package_data=True,
python_requires=">=3.10",
install_requires=INSTALL_REQUIRES,
packages=["omni.isaac.orbit"],
classifiers=[
"Natural Language :: English",
"Programming Language :: Python :: 3.10",
"Isaac Sim :: 2023.1.0-hotfix.1",
"Isaac Sim :: 2023.1.1",
],
zip_safe=False,
)
| 1,553 | Python | 26.263157 | 89 | 0.665808 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/test/devices/check_keyboard.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
"""
This script shows how to use a teleoperation device with Isaac Sim.
The teleoperation device is a keyboard device that allows the user to control the robot.
It is possible to add additional callbacks to it for user-defined operations.
"""
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher
# launch omniverse app
app_launcher = AppLauncher()
simulation_app = app_launcher.app
"""Rest everything follows."""
import ctypes
from omni.isaac.core.simulation_context import SimulationContext
from omni.isaac.orbit.devices import Se3Keyboard
def print_cb():
"""Dummy callback function executed when the key 'L' is pressed."""
print("Print callback")
def quit_cb():
"""Dummy callback function executed when the key 'ESC' is pressed."""
print("Quit callback")
simulation_app.close()
def main():
# Load kit helper
sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01)
# Create teleoperation interface
teleop_interface = Se3Keyboard(pos_sensitivity=0.1, rot_sensitivity=0.1)
# Add teleoperation callbacks
# available key buttons: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput
teleop_interface.add_callback("L", print_cb)
teleop_interface.add_callback("ESCAPE", quit_cb)
print("Press 'L' to print a message. Press 'ESC' to quit.")
# Check that boundedness of articulation is correct
if ctypes.c_long.from_address(id(teleop_interface)).value != 1:
raise RuntimeError("Teleoperation interface is not bounded to a single instance.")
# Reset interface internals
teleop_interface.reset()
# Play simulation
sim.reset()
# Simulate
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step()
continue
# get keyboard command
delta_pose, gripper_command = teleop_interface.advance()
# print command
if gripper_command:
print(f"Gripper command: {gripper_command}")
# step simulation
sim.step()
# check if simulator is stopped
if sim.is_stopped():
break
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
| 2,625 | Python | 27.236559 | 163 | 0.680762 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/test/sensors/check_contact_sensor.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates how to use the contact sensor sensor in Orbit.
.. code-block:: bash
./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_contact_sensor.py --num_robots 2
"""
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.orbit.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Contact Sensor Test Script")
parser.add_argument("--num_robots", type=int, default=64, help="Number of robots to spawn.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
import omni.isaac.core.utils.prims as prim_utils
from omni.isaac.cloner import GridCloner
from omni.isaac.core.simulation_context import SimulationContext
from omni.isaac.core.utils.carb import set_carb_setting
from omni.isaac.core.utils.viewports import set_camera_view
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.assets import Articulation
from omni.isaac.orbit.sensors.contact_sensor import ContactSensor, ContactSensorCfg
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip
"""
Helpers
"""
def design_scene():
"""Add prims to the scene."""
# Ground-plane
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
# Lights
cfg = sim_utils.SphereLightCfg()
cfg.func("/World/Light/GreySphere", cfg, translation=(4.5, 3.5, 10.0))
cfg.func("/World/Light/WhiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
"""
Main
"""
def main():
"""Spawns the ANYmal robot and clones it using Isaac Sim Cloner API."""
# Load kit helper
sim = SimulationContext(physics_dt=0.005, rendering_dt=0.005, backend="torch", device="cuda:0")
# Set main camera
set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0])
# Enable hydra scene-graph instancing
# this is needed to visualize the scene when flatcache is enabled
set_carb_setting(sim._settings, "/persistent/omnihydra/useSceneGraphInstancing", True)
# Create interface to clone the scene
cloner = GridCloner(spacing=2.0)
cloner.define_base_env("/World/envs")
# Everything under the namespace "/World/envs/env_0" will be cloned
prim_utils.define_prim("/World/envs/env_0")
# Clone the scene
num_envs = args_cli.num_robots
cloner.define_base_env("/World/envs")
envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs)
_ = cloner.clone(source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=True)
# Design props
design_scene()
# Spawn things into the scene
robot_cfg = ANYMAL_C_CFG.replace(prim_path="/World/envs/env_.*/Robot")
robot_cfg.spawn.activate_contact_sensors = True
robot = Articulation(cfg=robot_cfg)
# Contact sensor
contact_sensor_cfg = ContactSensorCfg(
prim_path="/World/envs/env_.*/Robot/.*_SHANK", track_air_time=True, debug_vis=not args_cli.headless
)
contact_sensor = ContactSensor(cfg=contact_sensor_cfg)
# filter collisions within each environment instance
physics_scene_path = sim.get_physics_context().prim_path
cloner.filter_collisions(
physics_scene_path, "/World/collisions", envs_prim_paths, global_paths=["/World/defaultGroundPlane"]
)
# Play the simulator
sim.reset()
# print info
print(contact_sensor)
# Now we are ready!
print("[INFO]: Setup complete...")
# Define simulation stepping
decimation = 4
physics_dt = sim.get_physics_dt()
sim_dt = decimation * physics_dt
sim_time = 0.0
count = 0
# Simulate physics
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step(render=False)
continue
# reset
if count % 1000 == 0:
# reset counters
sim_time = 0.0
count = 0
# reset dof state
joint_pos, joint_vel = robot.data.default_joint_pos, robot.data.default_joint_vel
robot.write_joint_state_to_sim(joint_pos, joint_vel)
robot.reset()
# perform 4 steps
for _ in range(decimation):
# apply actions
robot.set_joint_position_target(robot.data.default_joint_pos)
# write commands to sim
robot.write_data_to_sim()
# perform step
sim.step()
# fetch data
robot.update(physics_dt)
# update sim-time
sim_time += sim_dt
count += 1
# update the buffers
if sim.is_playing():
contact_sensor.update(sim_dt, force_recompute=True)
if count % 100 == 0:
print("Sim-time: ", sim_time)
print("Number of contacts: ", torch.count_nonzero(contact_sensor.data.current_air_time == 0.0).item())
print("-" * 80)
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
| 5,469 | Python | 30.079545 | 118 | 0.655147 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/test/sensors/check_ray_caster.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script shows how to use the ray caster from the Orbit framework.
.. code-block:: bash
# Usage
./orbit.sh -p source/extensions/omni.isaac.orbit/test/sensors/test_ray_caster.py --headless
"""
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.orbit.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Ray Caster Test Script")
parser.add_argument("--num_envs", type=int, default=128, help="Number of environments to clone.")
parser.add_argument(
"--terrain_type",
type=str,
default="generator",
help="Type of terrain to import. Can be 'generator' or 'usd' or 'plane'.",
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
import omni.isaac.core.utils.prims as prim_utils
from omni.isaac.cloner import GridCloner
from omni.isaac.core.prims import RigidPrimView
from omni.isaac.core.simulation_context import SimulationContext
from omni.isaac.core.utils.viewports import set_camera_view
import omni.isaac.orbit.sim as sim_utils
import omni.isaac.orbit.terrains as terrain_gen
from omni.isaac.orbit.sensors.ray_caster import RayCaster, RayCasterCfg, patterns
from omni.isaac.orbit.terrains.config.rough import ROUGH_TERRAINS_CFG
from omni.isaac.orbit.terrains.terrain_importer import TerrainImporter
from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR
from omni.isaac.orbit.utils.timer import Timer
def design_scene(sim: SimulationContext, num_envs: int = 2048):
"""Design the scene."""
# Create interface to clone the scene
cloner = GridCloner(spacing=2.0)
cloner.define_base_env("/World/envs")
# Everything under the namespace "/World/envs/env_0" will be cloned
prim_utils.define_prim("/World/envs/env_0")
# Define the scene
# -- Light
cfg = sim_utils.DistantLightCfg(intensity=2000)
cfg.func("/World/light", cfg)
# -- Balls
cfg = sim_utils.SphereCfg(
radius=0.25,
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
mass_props=sim_utils.MassPropertiesCfg(mass=0.5),
collision_props=sim_utils.CollisionPropertiesCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
)
cfg.func("/World/envs/env_0/ball", cfg, translation=(0.0, 0.0, 5.0))
# Clone the scene
cloner.define_base_env("/World/envs")
envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs)
cloner.clone(source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=True)
physics_scene_path = sim.get_physics_context().prim_path
cloner.filter_collisions(
physics_scene_path, "/World/collisions", prim_paths=envs_prim_paths, global_paths=["/World/ground"]
)
def main():
"""Main function."""
# Load kit helper
sim_params = {
"use_gpu": True,
"use_gpu_pipeline": True,
"use_flatcache": True, # deprecated from Isaac Sim 2023.1 onwards
"use_fabric": True, # used from Isaac Sim 2023.1 onwards
"enable_scene_query_support": True,
}
sim = SimulationContext(
physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
)
# Set main camera
set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
# Parameters
num_envs = args_cli.num_envs
# Design the scene
design_scene(sim=sim, num_envs=num_envs)
# Handler for terrains importing
terrain_importer_cfg = terrain_gen.TerrainImporterCfg(
prim_path="/World/ground",
terrain_type=args_cli.terrain_type,
terrain_generator=ROUGH_TERRAINS_CFG,
usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd",
max_init_terrain_level=None,
num_envs=1,
)
_ = TerrainImporter(terrain_importer_cfg)
# Create a ray-caster sensor
ray_caster_cfg = RayCasterCfg(
prim_path="/World/envs/env_.*/ball",
mesh_prim_paths=["/World/ground"],
pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(1.6, 1.0)),
attach_yaw_only=True,
debug_vis=not args_cli.headless,
)
ray_caster = RayCaster(cfg=ray_caster_cfg)
# Create a view over all the balls
ball_view = RigidPrimView("/World/envs/env_.*/ball", reset_xform_properties=False)
# Play simulator
sim.reset()
# Initialize the views
# -- balls
ball_view.initialize()
# Print the sensor information
print(ray_caster)
# Get the initial positions of the balls
ball_initial_positions, ball_initial_orientations = ball_view.get_world_poses()
ball_initial_velocities = ball_view.get_velocities()
# Create a counter for resetting the scene
step_count = 0
# Simulate physics
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step(render=False)
continue
# Reset the scene
if step_count % 500 == 0:
# sample random indices to reset
reset_indices = torch.randint(0, num_envs, (num_envs // 2,))
# reset the balls
ball_view.set_world_poses(
ball_initial_positions[reset_indices], ball_initial_orientations[reset_indices], indices=reset_indices
)
ball_view.set_velocities(ball_initial_velocities[reset_indices], indices=reset_indices)
# reset the sensor
ray_caster.reset(reset_indices)
# reset the counter
step_count = 0
# Step simulation
sim.step()
# Update the ray-caster
with Timer(f"Ray-caster update with {num_envs} x {ray_caster.num_rays} rays"):
ray_caster.update(dt=sim.get_physics_dt(), force_recompute=True)
# Update counter
step_count += 1
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
| 6,402 | Python | 33.424731 | 118 | 0.666198 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/test/sensors/test_camera.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
# ignore private usage of variables warning
# pyright: reportPrivateUsage=none
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch omniverse app
app_launcher = AppLauncher(headless=True, offscreen_render=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import copy
import numpy as np
import os
import random
import scipy.spatial.transform as tf
import torch
import unittest
import omni.isaac.core.utils.prims as prim_utils
import omni.isaac.core.utils.stage as stage_utils
import omni.replicator.core as rep
from omni.isaac.core.prims import GeometryPrim, RigidPrim
from omni.isaac.core.simulation_context import SimulationContext
from pxr import Gf, Usd, UsdGeom
import omni.isaac.orbit.sim as sim_utils
from omni.isaac.orbit.sensors.camera import Camera, CameraCfg
from omni.isaac.orbit.utils import convert_dict_to_backend
from omni.isaac.orbit.utils.math import convert_quat
from omni.isaac.orbit.utils.timer import Timer
# sample camera poses
POSITION = [2.5, 2.5, 2.5]
QUAT_ROS = [-0.17591989, 0.33985114, 0.82047325, -0.42470819]
QUAT_OPENGL = [0.33985113, 0.17591988, 0.42470818, 0.82047324]
QUAT_WORLD = [-0.3647052, -0.27984815, -0.1159169, 0.88047623]
class TestCamera(unittest.TestCase):
"""Test for USD Camera sensor."""
def setUp(self):
"""Create a blank new stage for each test."""
self.camera_cfg = CameraCfg(
height=128,
width=128,
prim_path="/World/Camera",
update_period=0,
data_types=["distance_to_image_plane"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
),
)
# Create a new stage
stage_utils.create_new_stage()
# Simulation time-step
self.dt = 0.01
# Load kit helper
self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="torch", device="cpu")
# populate scene
self._populate_scene()
# load stage
stage_utils.update_stage()
def tearDown(self):
"""Stops simulator after each test."""
# close all the opened viewport from before.
rep.vp_manager.destroy_hydra_textures("Replicator")
# stop simulation
# note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :(
self.sim._timeline.stop()
# clear the stage
self.sim.clear()
self.sim.clear_all_callbacks()
self.sim.clear_instance()
"""
Tests
"""
def test_camera_init(self):
"""Test camera initialization."""
# Create camera
camera = Camera(self.camera_cfg)
# Play sim
self.sim.reset()
# Check if camera is initialized
self.assertTrue(camera._is_initialized)
# Check if camera prim is set correctly and that it is a camera prim
self.assertTrue(camera._sensor_prims[0].GetPath().pathString == self.camera_cfg.prim_path)
self.assertTrue(isinstance(camera._sensor_prims[0], UsdGeom.Camera))
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(5):
self.sim.step()
# Check buffers that exists and have correct shapes
self.assertTrue(camera.data.pos_w.shape == (1, 3))
self.assertTrue(camera.data.quat_w_ros.shape == (1, 4))
self.assertTrue(camera.data.quat_w_world.shape == (1, 4))
self.assertTrue(camera.data.quat_w_opengl.shape == (1, 4))
self.assertTrue(camera.data.intrinsic_matrices.shape == (1, 3, 3))
self.assertTrue(camera.data.image_shape == (self.camera_cfg.height, self.camera_cfg.width))
self.assertTrue(camera.data.info == [{self.camera_cfg.data_types[0]: None}])
# Simulate physics
for _ in range(10):
# perform rendering
self.sim.step()
# update camera
camera.update(self.dt)
# check image data
for im_data in camera.data.output.to_dict().values():
self.assertTrue(im_data.shape == (1, self.camera_cfg.height, self.camera_cfg.width))
def test_camera_init_offset(self):
"""Test camera initialization with offset using different conventions."""
# define the same offset in all conventions
# -- ROS convention
cam_cfg_offset_ros = copy.deepcopy(self.camera_cfg)
cam_cfg_offset_ros.offset = CameraCfg.OffsetCfg(
pos=POSITION,
rot=QUAT_ROS,
convention="ros",
)
cam_cfg_offset_ros.prim_path = "/World/CameraOffsetRos"
camera_ros = Camera(cam_cfg_offset_ros)
# -- OpenGL convention
cam_cfg_offset_opengl = copy.deepcopy(self.camera_cfg)
cam_cfg_offset_opengl.offset = CameraCfg.OffsetCfg(
pos=POSITION,
rot=QUAT_OPENGL,
convention="opengl",
)
cam_cfg_offset_opengl.prim_path = "/World/CameraOffsetOpengl"
camera_opengl = Camera(cam_cfg_offset_opengl)
# -- World convention
cam_cfg_offset_world = copy.deepcopy(self.camera_cfg)
cam_cfg_offset_world.offset = CameraCfg.OffsetCfg(
pos=POSITION,
rot=QUAT_WORLD,
convention="world",
)
cam_cfg_offset_world.prim_path = "/World/CameraOffsetWorld"
camera_world = Camera(cam_cfg_offset_world)
# play sim
self.sim.reset()
# retrieve camera pose
prim_tf_ros = camera_ros._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
prim_tf_opengl = camera_opengl._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
prim_tf_world = camera_world._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
prim_tf_ros = np.transpose(prim_tf_ros)
prim_tf_opengl = np.transpose(prim_tf_opengl)
prim_tf_world = np.transpose(prim_tf_world)
# check that all transforms are set correctly
np.testing.assert_allclose(prim_tf_ros[0:3, 3], cam_cfg_offset_ros.offset.pos)
np.testing.assert_allclose(prim_tf_opengl[0:3, 3], cam_cfg_offset_opengl.offset.pos)
np.testing.assert_allclose(prim_tf_world[0:3, 3], cam_cfg_offset_world.offset.pos)
np.testing.assert_allclose(
convert_quat(tf.Rotation.from_matrix(prim_tf_ros[:3, :3]).as_quat(), "wxyz"),
cam_cfg_offset_opengl.offset.rot,
rtol=1e-5,
)
np.testing.assert_allclose(
convert_quat(tf.Rotation.from_matrix(prim_tf_opengl[:3, :3]).as_quat(), "wxyz"),
cam_cfg_offset_opengl.offset.rot,
rtol=1e-5,
)
np.testing.assert_allclose(
convert_quat(tf.Rotation.from_matrix(prim_tf_world[:3, :3]).as_quat(), "wxyz"),
cam_cfg_offset_opengl.offset.rot,
rtol=1e-5,
)
# check if transform correctly set in output
np.testing.assert_allclose(camera_ros.data.pos_w[0], cam_cfg_offset_ros.offset.pos, rtol=1e-5)
np.testing.assert_allclose(camera_ros.data.quat_w_ros[0], QUAT_ROS, rtol=1e-5)
np.testing.assert_allclose(camera_ros.data.quat_w_opengl[0], QUAT_OPENGL, rtol=1e-5)
np.testing.assert_allclose(camera_ros.data.quat_w_world[0], QUAT_WORLD, rtol=1e-5)
def test_multi_camera_init(self):
"""Test multi-camera initialization."""
# create two cameras with different prim paths
# -- camera 1
cam_cfg_1 = copy.deepcopy(self.camera_cfg)
cam_cfg_1.prim_path = "/World/Camera_1"
cam_1 = Camera(cam_cfg_1)
# -- camera 2
cam_cfg_2 = copy.deepcopy(self.camera_cfg)
cam_cfg_2.prim_path = "/World/Camera_2"
cam_2 = Camera(cam_cfg_2)
# play sim
self.sim.reset()
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(5):
self.sim.step()
# Simulate physics
for _ in range(10):
# perform rendering
self.sim.step()
# update camera
cam_1.update(self.dt)
cam_2.update(self.dt)
# check image data
for cam in [cam_1, cam_2]:
for im_data in cam.data.output.to_dict().values():
self.assertTrue(im_data.shape == (1, self.camera_cfg.height, self.camera_cfg.width))
def test_camera_set_world_poses(self):
"""Test camera function to set specific world pose."""
camera = Camera(self.camera_cfg)
# play sim
self.sim.reset()
# set new pose
camera.set_world_poses(torch.tensor([POSITION]), torch.tensor([QUAT_WORLD]), convention="world")
np.testing.assert_allclose(camera.data.pos_w, [POSITION], rtol=1e-5)
np.testing.assert_allclose(camera.data.quat_w_world, [QUAT_WORLD], rtol=1e-5)
def test_camera_set_world_poses_from_view(self):
"""Test camera function to set specific world pose from view."""
camera = Camera(self.camera_cfg)
# play sim
self.sim.reset()
# set new pose
camera.set_world_poses_from_view(torch.tensor([POSITION]), torch.tensor([[0.0, 0.0, 0.0]]))
np.testing.assert_allclose(camera.data.pos_w, [POSITION], rtol=1e-5)
np.testing.assert_allclose(camera.data.quat_w_ros, [QUAT_ROS], rtol=1e-5)
def test_intrinsic_matrix(self):
"""Checks that the camera's set and retrieve methods work for intrinsic matrix."""
camera_cfg = copy.deepcopy(self.camera_cfg)
camera_cfg.height = 240
camera_cfg.width = 320
camera = Camera(camera_cfg)
# play sim
self.sim.reset()
# Desired properties (obtained from realsense camera at 320x240 resolution)
rs_intrinsic_matrix = [229.31640625, 0.0, 164.810546875, 0.0, 229.826171875, 122.1650390625, 0.0, 0.0, 1.0]
rs_intrinsic_matrix = np.array(rs_intrinsic_matrix).reshape(3, 3)
# Set matrix into simulator
camera.set_intrinsic_matrices([rs_intrinsic_matrix])
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(5):
self.sim.step()
# Simulate physics
for _ in range(10):
# perform rendering
self.sim.step()
# update camera
camera.update(self.dt)
# Check that matrix is correct
K = camera.data.intrinsic_matrices[0].numpy()
# TODO: This is not correctly setting all values in the matrix since the
# vertical aperture and aperture offsets are not being set correctly
# This is a bug in the simulator.
self.assertAlmostEqual(rs_intrinsic_matrix[0, 0], K[0, 0], 4)
# self.assertAlmostEqual(rs_intrinsic_matrix[1, 1], K[1, 1], 4)
def test_camera_resolution_all_colorize(self):
"""Test camera resolution is correctly set for all types with colorization enabled."""
# Add all types
camera_cfg = copy.deepcopy(self.camera_cfg)
camera_cfg.data_types = [
"rgb",
"distance_to_image_plane",
"normals",
"semantic_segmentation",
"instance_segmentation_fast",
"instance_id_segmentation_fast",
]
camera_cfg.colorize_instance_id_segmentation = True
camera_cfg.colorize_instance_segmentation = True
camera_cfg.colorize_semantic_segmentation = True
# Create camera
camera = Camera(camera_cfg)
# Play sim
self.sim.reset()
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(12):
self.sim.step()
camera.update(self.dt)
# expected sizes
hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
hw_1c_shape = (1, camera_cfg.height, camera_cfg.width)
# access image data and compare shapes
output = camera.data.output
self.assertEqual(output["rgb"].shape, hw_3c_shape)
self.assertEqual(output["distance_to_image_plane"].shape, hw_1c_shape)
self.assertEqual(output["normals"].shape, hw_3c_shape)
# FIXME: No idea why it does not work here. The raw buffers are of type int64 than int32 -> need to investigate
# It works fine when run_usd_camera.py tutorial is run.
# self.assertEqual(output["semantic_segmentation"].shape, hw_3c_shape)
# self.assertEqual(output["instance_segmentation_fast"].shape, hw_3c_shape)
# self.assertEqual(output["instance_id_segmentation_fast"].shape, hw_3c_shape)
# access image data and compare dtype
output = camera.data.output
self.assertEqual(output["rgb"].dtype, torch.uint8)
self.assertEqual(output["distance_to_image_plane"].dtype, torch.float)
self.assertEqual(output["normals"].dtype, torch.float)
self.assertEqual(output["semantic_segmentation"].dtype, torch.uint8)
self.assertEqual(output["instance_segmentation_fast"].dtype, torch.uint8)
self.assertEqual(output["instance_id_segmentation_fast"].dtype, torch.uint8)
def test_camera_resolution_no_colorize(self):
"""Test camera resolution is correctly set for all types with no colorization enabled."""
# Add all types
camera_cfg = copy.deepcopy(self.camera_cfg)
camera_cfg.data_types = [
"rgb",
"distance_to_image_plane",
"normals",
"semantic_segmentation",
"instance_segmentation_fast",
"instance_id_segmentation_fast",
]
camera_cfg.colorize_instance_id_segmentation = False
camera_cfg.colorize_instance_segmentation = False
camera_cfg.colorize_semantic_segmentation = False
# Create camera
camera = Camera(camera_cfg)
# Play sim
self.sim.reset()
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(12):
self.sim.step()
camera.update(self.dt)
# expected sizes
hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
hw_1c_shape = (1, camera_cfg.height, camera_cfg.width)
# access image data and compare shapes
output = camera.data.output
self.assertEqual(output["rgb"].shape, hw_3c_shape)
self.assertEqual(output["distance_to_image_plane"].shape, hw_1c_shape)
self.assertEqual(output["normals"].shape, hw_3c_shape)
self.assertEqual(output["semantic_segmentation"].shape, hw_1c_shape)
self.assertEqual(output["instance_segmentation_fast"].shape, hw_1c_shape)
self.assertEqual(output["instance_id_segmentation_fast"].shape, hw_1c_shape)
# access image data and compare dtype
output = camera.data.output
self.assertEqual(output["rgb"].dtype, torch.uint8)
self.assertEqual(output["distance_to_image_plane"].dtype, torch.float)
self.assertEqual(output["normals"].dtype, torch.float)
# FIXME: No idea why it does not work here. The raw buffers are of type int64 than int32 -> need to investigate
# It works fine when run_usd_camera.py tutorial is run.
# self.assertEqual(output["semantic_segmentation"].dtype, torch.int32)
# self.assertEqual(output["instance_segmentation_fast"].dtype, torch.int32)
# self.assertEqual(output["instance_id_segmentation_fast"].dtype, torch.int32)
def test_throughput(self):
"""Checks that the single camera gets created properly with a rig."""
# Create directory temp dir to dump the results
file_dir = os.path.dirname(os.path.realpath(__file__))
temp_dir = os.path.join(file_dir, "output", "camera", "throughput")
os.makedirs(temp_dir, exist_ok=True)
# Create replicator writer
rep_writer = rep.BasicWriter(output_dir=temp_dir, frame_padding=3)
# create camera
camera_cfg = copy.deepcopy(self.camera_cfg)
camera_cfg.height = 480
camera_cfg.width = 640
camera = Camera(camera_cfg)
# Play simulator
self.sim.reset()
# Set camera pose
camera.set_world_poses_from_view(torch.tensor([[2.5, 2.5, 2.5]]), torch.tensor([[0.0, 0.0, 0.0]]))
# Simulate for a few steps
# note: This is a workaround to ensure that the textures are loaded.
# Check "Known Issues" section in the documentation for more details.
for _ in range(5):
self.sim.step()
# Simulate physics
for _ in range(5):
# perform rendering
self.sim.step()
# update camera
with Timer(f"Time taken for updating camera with shape {camera.image_shape}"):
camera.update(self.dt)
# Save images
with Timer(f"Time taken for writing data with shape {camera.image_shape} "):
# Pack data back into replicator format to save them using its writer
rep_output = dict()
camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy")
for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
if info is not None:
rep_output[key] = {"data": data, "info": info}
else:
rep_output[key] = data
# Save images
rep_output["trigger_outputs"] = {"on_time": camera.frame[0]}
rep_writer.write(rep_output)
print("----------------------------------------")
# Check image data
for im_data in camera.data.output.values():
self.assertTrue(im_data.shape == (1, camera_cfg.height, camera_cfg.width))
"""
Helper functions.
"""
@staticmethod
def _populate_scene():
"""Add prims to the scene."""
# Ground-plane
cfg = sim_utils.GroundPlaneCfg()
cfg.func("/World/defaultGroundPlane", cfg)
# Lights
cfg = sim_utils.SphereLightCfg()
cfg.func("/World/Light/GreySphere", cfg, translation=(4.5, 3.5, 10.0))
cfg.func("/World/Light/WhiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
# Random objects
random.seed(0)
for i in range(10):
# sample random position
position = np.random.rand(3) - np.asarray([0.05, 0.05, -1.0])
position *= np.asarray([1.5, 1.5, 0.5])
# create prim
prim_type = random.choice(["Cube", "Sphere", "Cylinder"])
prim = prim_utils.create_prim(
f"/World/Objects/Obj_{i:02d}",
prim_type,
translation=position,
scale=(0.25, 0.25, 0.25),
semantic_label=prim_type,
)
# cast to geom prim
geom_prim = getattr(UsdGeom, prim_type)(prim)
# set random color
color = Gf.Vec3f(random.random(), random.random(), random.random())
geom_prim.CreateDisplayColorAttr()
geom_prim.GetDisplayColorAttr().Set([color])
# add rigid properties
GeometryPrim(f"/World/Objects/Obj_{i:02d}", collision=True)
RigidPrim(f"/World/Objects/Obj_{i:02d}", mass=5.0)
if __name__ == "__main__":
run_tests()
| 20,322 | Python | 42.611588 | 119 | 0.613522 |
NVIDIA-Omniverse/orbit/source/extensions/omni.isaac.orbit/test/sensors/test_frame_transformer.py | # Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script checks the FrameTransformer sensor by visualizing the frames that it creates.
"""
from __future__ import annotations
"""Launch Isaac Sim Simulator first."""
from omni.isaac.orbit.app import AppLauncher, run_tests
# launch omniverse app
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import math
import scipy.spatial.transform as tf
import torch
import unittest
import omni.isaac.core.utils.stage as stage_utils
import omni.isaac.orbit.sim as sim_utils
import omni.isaac.orbit.utils.math as math_utils
from omni.isaac.orbit.scene import InteractiveScene, InteractiveSceneCfg
from omni.isaac.orbit.sensors import FrameTransformerCfg, OffsetCfg
from omni.isaac.orbit.terrains import TerrainImporterCfg
from omni.isaac.orbit.utils import configclass
##
# Pre-defined configs
##
from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG # isort:skip
def quat_from_euler_rpy(roll, pitch, yaw, degrees=False):
"""Converts Euler XYZ to Quaternion (w, x, y, z)."""
quat = tf.Rotation.from_euler("xyz", (roll, pitch, yaw), degrees=degrees).as_quat()
return tuple(quat[[3, 0, 1, 2]].tolist())
def euler_rpy_apply(rpy, xyz, degrees=False):
"""Applies rotation from Euler XYZ on position vector."""
rot = tf.Rotation.from_euler("xyz", rpy, degrees=degrees)
return tuple(rot.apply(xyz).tolist())
@configclass
class MySceneCfg(InteractiveSceneCfg):
"""Example scene configuration."""
# terrain - flat terrain plane
terrain = TerrainImporterCfg(prim_path="/World/ground", terrain_type="plane")
# articulation - robot
robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
# sensors - frame transformer (filled inside unit test)
frame_transformer: FrameTransformerCfg = None
class TestFrameTransformer(unittest.TestCase):
"""Test for frame transformer sensor."""
def setUp(self):
"""Create a blank new stage for each test."""
# Create a new stage
stage_utils.create_new_stage()
# Load kit helper
self.sim = sim_utils.SimulationContext(sim_utils.SimulationCfg(dt=0.005))
# Set main camera
self.sim.set_camera_view(eye=[5, 5, 5], target=[0.0, 0.0, 0.0])
def tearDown(self):
"""Stops simulator after each test."""
# stop simulation
# self.sim.stop()
# clear the stage
self.sim.clear_all_callbacks()
self.sim.clear_instance()
"""
Tests
"""
def test_frame_transformer_feet_wrt_base(self):
"""Test feet transformations w.r.t. base source frame.
In this test, the source frame is the robot base. This frame is at index 0, when
the frame bodies are sorted in the order of the regex matching in the frame transformer.
"""
# Spawn things into stage
scene_cfg = MySceneCfg(num_envs=32, env_spacing=5.0, lazy_sensor_update=False)
scene_cfg.frame_transformer = FrameTransformerCfg(
prim_path="{ENV_REGEX_NS}/Robot/base",
target_frames=[
FrameTransformerCfg.FrameCfg(
name="LF_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/LF_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, -math.pi / 2), xyz=(0.08795, 0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, -math.pi / 2),
),
),
FrameTransformerCfg.FrameCfg(
name="RF_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/RF_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, math.pi / 2), xyz=(0.08795, -0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, math.pi / 2),
),
),
FrameTransformerCfg.FrameCfg(
name="LH_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/LH_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, -math.pi / 2), xyz=(-0.08795, 0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, -math.pi / 2),
),
),
FrameTransformerCfg.FrameCfg(
name="RH_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/RH_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, math.pi / 2), xyz=(-0.08795, -0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, math.pi / 2),
),
),
],
)
scene = InteractiveScene(scene_cfg)
# Play the simulator
self.sim.reset()
# Acquire the index of ground truth bodies
feet_indices, feet_names = scene.articulations["robot"].find_bodies(
["LF_FOOT", "RF_FOOT", "LH_FOOT", "RH_FOOT"]
)
# Check names are parsed the same order
user_feet_names = [f"{name}_USER" for name in feet_names]
self.assertListEqual(scene.sensors["frame_transformer"].data.target_frame_names, user_feet_names)
# default joint targets
default_actions = scene.articulations["robot"].data.default_joint_pos.clone()
# Define simulation stepping
sim_dt = self.sim.get_physics_dt()
# Simulate physics
for count in range(100):
# # reset
if count % 25 == 0:
# reset root state
root_state = scene.articulations["robot"].data.default_root_state.clone()
root_state[:, :3] += scene.env_origins
joint_pos = scene.articulations["robot"].data.default_joint_pos
joint_vel = scene.articulations["robot"].data.default_joint_vel
# -- set root state
# -- robot
scene.articulations["robot"].write_root_state_to_sim(root_state)
scene.articulations["robot"].write_joint_state_to_sim(joint_pos, joint_vel)
# reset buffers
scene.reset()
# set joint targets
robot_actions = default_actions + 0.5 * torch.randn_like(default_actions)
scene.articulations["robot"].set_joint_position_target(robot_actions)
# write data to sim
scene.write_data_to_sim()
# perform step
self.sim.step()
# read data from sim
scene.update(sim_dt)
# check absolute frame transforms in world frame
# -- ground-truth
root_pose_w = scene.articulations["robot"].data.root_state_w[:, :7]
feet_pos_w_gt = scene.articulations["robot"].data.body_pos_w[:, feet_indices]
feet_quat_w_gt = scene.articulations["robot"].data.body_quat_w[:, feet_indices]
# -- frame transformer
source_pos_w_tf = scene.sensors["frame_transformer"].data.source_pos_w
source_quat_w_tf = scene.sensors["frame_transformer"].data.source_quat_w
feet_pos_w_tf = scene.sensors["frame_transformer"].data.target_pos_w
feet_quat_w_tf = scene.sensors["frame_transformer"].data.target_quat_w
# check if they are same
torch.testing.assert_close(root_pose_w[:, :3], source_pos_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(root_pose_w[:, 3:], source_quat_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_pos_w_gt, feet_pos_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_quat_w_gt, feet_quat_w_tf, rtol=1e-3, atol=1e-3)
# check if relative transforms are same
feet_pos_source_tf = scene.sensors["frame_transformer"].data.target_pos_source
feet_quat_source_tf = scene.sensors["frame_transformer"].data.target_quat_source
for index in range(len(feet_indices)):
# ground-truth
foot_pos_b, foot_quat_b = math_utils.subtract_frame_transforms(
root_pose_w[:, :3], root_pose_w[:, 3:], feet_pos_w_tf[:, index], feet_quat_w_tf[:, index]
)
# check if they are same
torch.testing.assert_close(feet_pos_source_tf[:, index], foot_pos_b, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_quat_source_tf[:, index], foot_quat_b, rtol=1e-3, atol=1e-3)
def test_frame_transformer_feet_wrt_thigh(self):
"""Test feet transformation w.r.t. thigh source frame.
In this test, the source frame is the LF leg's thigh frame. This frame is not at index 0,
when the frame bodies are sorted in the order of the regex matching in the frame transformer.
"""
# Spawn things into stage
scene_cfg = MySceneCfg(num_envs=32, env_spacing=5.0, lazy_sensor_update=False)
scene_cfg.frame_transformer = FrameTransformerCfg(
prim_path="{ENV_REGEX_NS}/Robot/LF_THIGH",
target_frames=[
FrameTransformerCfg.FrameCfg(
name="LF_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/LF_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, -math.pi / 2), xyz=(0.08795, 0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, -math.pi / 2),
),
),
FrameTransformerCfg.FrameCfg(
name="RF_FOOT_USER",
prim_path="{ENV_REGEX_NS}/Robot/RF_SHANK",
offset=OffsetCfg(
pos=euler_rpy_apply(rpy=(0, 0, math.pi / 2), xyz=(0.08795, -0.01305, -0.33797)),
rot=quat_from_euler_rpy(0, 0, math.pi / 2),
),
),
],
)
scene = InteractiveScene(scene_cfg)
# Play the simulator
self.sim.reset()
# Acquire the index of ground truth bodies
source_frame_index = scene.articulations["robot"].find_bodies("LF_THIGH")[0][0]
feet_indices, feet_names = scene.articulations["robot"].find_bodies(["LF_FOOT", "RF_FOOT"])
# Check names are parsed the same order
user_feet_names = [f"{name}_USER" for name in feet_names]
self.assertListEqual(scene.sensors["frame_transformer"].data.target_frame_names, user_feet_names)
# default joint targets
default_actions = scene.articulations["robot"].data.default_joint_pos.clone()
# Define simulation stepping
sim_dt = self.sim.get_physics_dt()
# Simulate physics
for count in range(100):
# # reset
if count % 25 == 0:
# reset root state
root_state = scene.articulations["robot"].data.default_root_state.clone()
root_state[:, :3] += scene.env_origins
joint_pos = scene.articulations["robot"].data.default_joint_pos
joint_vel = scene.articulations["robot"].data.default_joint_vel
# -- set root state
# -- robot
scene.articulations["robot"].write_root_state_to_sim(root_state)
scene.articulations["robot"].write_joint_state_to_sim(joint_pos, joint_vel)
# reset buffers
scene.reset()
# set joint targets
robot_actions = default_actions + 0.5 * torch.randn_like(default_actions)
scene.articulations["robot"].set_joint_position_target(robot_actions)
# write data to sim
scene.write_data_to_sim()
# perform step
self.sim.step()
# read data from sim
scene.update(sim_dt)
# check absolute frame transforms in world frame
# -- ground-truth
source_pose_w_gt = scene.articulations["robot"].data.body_state_w[:, source_frame_index, :7]
feet_pos_w_gt = scene.articulations["robot"].data.body_pos_w[:, feet_indices]
feet_quat_w_gt = scene.articulations["robot"].data.body_quat_w[:, feet_indices]
# -- frame transformer
source_pos_w_tf = scene.sensors["frame_transformer"].data.source_pos_w
source_quat_w_tf = scene.sensors["frame_transformer"].data.source_quat_w
feet_pos_w_tf = scene.sensors["frame_transformer"].data.target_pos_w
feet_quat_w_tf = scene.sensors["frame_transformer"].data.target_quat_w
# check if they are same
torch.testing.assert_close(source_pose_w_gt[:, :3], source_pos_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(source_pose_w_gt[:, 3:], source_quat_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_pos_w_gt, feet_pos_w_tf, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_quat_w_gt, feet_quat_w_tf, rtol=1e-3, atol=1e-3)
# check if relative transforms are same
feet_pos_source_tf = scene.sensors["frame_transformer"].data.target_pos_source
feet_quat_source_tf = scene.sensors["frame_transformer"].data.target_quat_source
for index in range(len(feet_indices)):
# ground-truth
foot_pos_b, foot_quat_b = math_utils.subtract_frame_transforms(
source_pose_w_gt[:, :3], source_pose_w_gt[:, 3:], feet_pos_w_tf[:, index], feet_quat_w_tf[:, index]
)
# check if they are same
torch.testing.assert_close(feet_pos_source_tf[:, index], foot_pos_b, rtol=1e-3, atol=1e-3)
torch.testing.assert_close(feet_quat_source_tf[:, index], foot_quat_b, rtol=1e-3, atol=1e-3)
if __name__ == "__main__":
run_tests()
| 13,964 | Python | 44.048387 | 119 | 0.578416 |
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