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Adds color space to textures.

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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
This commit is contained in:
Google DeepMind
2025-05-22 04:32:04 -07:00
committed by Copybara-Service
parent 62a9d5b98d
commit 3e9bc79b54
17 changed files with 123 additions and 23 deletions
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doc/XMLreference.rst
+6
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@@ -1526,6 +1526,12 @@ still be specified here but this functionality is now deprecated and will be rem
with the texrepeat attribute of :ref:`material <asset-material>`. The data can be loaded from a single file or
created procedurally.
.. _asset-texture-colorspace:
:at:`colorspace`: :at-val:`[auto, linear, sRGB], "auto"`
This attribute determines the color space of the texture. The default value ``auto`` means that the color space will
be determined from the image file itself. If no color space is defined in the file, then ``linear`` is assumed.
.. _asset-texture-content_type:
:at:`content_type`: :at-val:`string, optional`
doc/XMLschema.rst
+6 -6
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@@ -153,17 +153,17 @@
| :ref:`texture | \* | :class: mjcf-attributes |
| <asset-texture>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<asset-texture-name>` | :ref:`type<asset-texture-type>` | :ref:`content_type<asset-texture-content_type>` | :ref:`file<asset-texture-file>` | |
| | | | :ref:`name<asset-texture-name>` | :ref:`type<asset-texture-type>` | :ref:`colorspace<asset-texture-colorspace>` | :ref:`content_type<asset-texture-content_type>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`gridsize<asset-texture-gridsize>` | :ref:`gridlayout<asset-texture-gridlayout>` | :ref:`fileright<asset-texture-fileright>` | :ref:`fileleft<asset-texture-fileleft>` | |
| | | | :ref:`file<asset-texture-file>` | :ref:`gridsize<asset-texture-gridsize>` | :ref:`gridlayout<asset-texture-gridlayout>` | :ref:`fileright<asset-texture-fileright>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fileup<asset-texture-fileup>` | :ref:`filedown<asset-texture-filedown>` | :ref:`filefront<asset-texture-filefront>` | :ref:`fileback<asset-texture-fileback>` | |
| | | | :ref:`fileleft<asset-texture-fileleft>` | :ref:`fileup<asset-texture-fileup>` | :ref:`filedown<asset-texture-filedown>` | :ref:`filefront<asset-texture-filefront>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`builtin<asset-texture-builtin>` | :ref:`rgb1<asset-texture-rgb1>` | :ref:`rgb2<asset-texture-rgb2>` | :ref:`mark<asset-texture-mark>` | |
| | | | :ref:`fileback<asset-texture-fileback>` | :ref:`builtin<asset-texture-builtin>` | :ref:`rgb1<asset-texture-rgb1>` | :ref:`rgb2<asset-texture-rgb2>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | :ref:`height<asset-texture-height>` | |
| | | | :ref:`mark<asset-texture-mark>` | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | | |
| | | | :ref:`height<asset-texture-height>` | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
doc/includes/references.h
+7
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@@ -544,6 +544,11 @@ typedef enum mjtTextureRole_ { // role of texture map in rendering
mjTEXROLE_ORM, // occlusion, roughness, metallic
mjNTEXROLE
} mjtTextureRole;
typedef enum mjtColorSpace_ { // type of color space encoding
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
mjCOLORSPACE_LINEAR, // linear color space
mjCOLORSPACE_SRGB // standard RGB color space
} mjtColorSpace;
typedef enum mjtIntegrator_ { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
@@ -1326,6 +1331,7 @@ struct mjModel_ {
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_nchannel; // number of channels in texture image (ntex x 1)
@@ -2150,6 +2156,7 @@ typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjString* name; // name
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
int builtin; // builtin type (mjtBuiltin)
include/mujoco/mjmodel.h
+8
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@@ -151,6 +151,13 @@ typedef enum mjtTextureRole_ { // role of texture map in rendering
} mjtTextureRole;
typedef enum mjtColorSpace_ { // type of color space encoding
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
mjCOLORSPACE_LINEAR, // linear color space
mjCOLORSPACE_SRGB // standard RGB color space
} mjtColorSpace;
typedef enum mjtIntegrator_ { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
@@ -994,6 +1001,7 @@ struct mjModel_ {
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_nchannel; // number of channels in texture image (ntex x 1)
include/mujoco/mjspec.h
+1
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@@ -525,6 +525,7 @@ typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjString* name; // name
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
int builtin; // builtin type (mjtBuiltin)
include/mujoco/mjxmacro.h
+1
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@@ -439,6 +439,7 @@
XNV ( float, hfield_data, nhfielddata, 1 ) \
X ( int, hfield_pathadr, nhfield, 1 ) \
X ( int, tex_type, ntex, 1 ) \
X ( int, tex_colorspace, ntex, 1 ) \
X ( int, tex_height, ntex, 1 ) \
X ( int, tex_width, ntex, 1 ) \
X ( int, tex_nchannel, ntex, 1 ) \
python/mujoco/introspect/enums.py
+10
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@@ -139,6 +139,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjNTEXROLE', 10),
]),
)),
('mjtColorSpace',
EnumDecl(
name='mjtColorSpace',
declname='enum mjtColorSpace_',
values=dict([
('mjCOLORSPACE_AUTO', 0),
('mjCOLORSPACE_LINEAR', 1),
('mjCOLORSPACE_SRGB', 2),
]),
)),
('mjtIntegrator',
EnumDecl(
name='mjtIntegrator',
python/mujoco/introspect/structs.py
+13
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@@ -3339,6 +3339,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='texture type (mjtTexture)',
array_extent=('ntex',),
),
StructFieldDecl(
name='tex_colorspace',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='texture colorspace (mjtColorSpace)',
array_extent=('ntex',),
),
StructFieldDecl(
name='tex_height',
type=PointerType(
@@ -9613,6 +9621,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtTexture'),
doc='texture type',
),
StructFieldDecl(
name='colorspace',
type=ValueType(name='mjtColorSpace'),
doc='colorspace',
),
StructFieldDecl(
name='builtin',
type=ValueType(name='int'),
src/render/render_context.c
+7 -2
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@@ -1387,15 +1387,20 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
// assign data
int type = 0;
int internaltype = 0;
if (m->tex_nchannel[texid] == 3) {
type = GL_RGB;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_EXT : GL_RGB;
} else if (m->tex_nchannel[texid] == 4) {
type = GL_RGBA;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_ALPHA8_EXT : GL_RGBA;
} else {
mju_error("Number of channels not supported: %d", m->tex_nchannel[texid]);
}
glTexImage2D(GL_TEXTURE_2D, 0, type, m->tex_width[texid], m->tex_height[texid], 0,
type, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
glTexImage2D(GL_TEXTURE_2D, 0, internaltype, m->tex_width[texid],
m->tex_height[texid], 0, type, GL_UNSIGNED_BYTE,
m->tex_data + m->tex_adr[texid]);
// generate mipmaps
glGenerateMipmap(GL_TEXTURE_2D);
src/user/user_init.c
+1
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@@ -273,6 +273,7 @@ void mjs_defaultSkin(mjsSkin* skin) {
void mjs_defaultTexture(mjsTexture* texture) {
memset(texture, 0, sizeof(mjsTexture));
texture->type = mjTEXTURE_CUBE;
texture->colorspace = mjCOLORSPACE_AUTO;
texture->rgb1[0] = texture->rgb1[1] = texture->rgb1[2] = 0.8;
texture->rgb2[0] = texture->rgb2[1] = texture->rgb2[2] = 0.5;
texture->random = 0.01;
src/user/user_model.cc
+1
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@@ -3285,6 +3285,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// set fields
m->tex_type[i] = ptex->type;
m->tex_colorspace[i] = ptex->colorspace;
m->tex_height[i] = ptex->height;
m->tex_width[i] = ptex->width;
m->tex_nchannel[i] = ptex->nchannel;
src/user/user_objects.cc
+36 -10
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@@ -55,6 +55,8 @@ class PNGImage {
LodePNGColorType color_type);
int Width() const { return width_; }
int Height() const { return height_; }
bool IsSRGB() const { return is_srgb_; }
uint8_t operator[] (int i) const { return data_[i]; }
std::vector<unsigned char>& MoveData() { return data_; }
@@ -65,6 +67,7 @@ class PNGImage {
int width_;
int height_;
bool is_srgb_;
LodePNGColorType color_type_;
std::vector<uint8_t> data_;
};
@@ -104,8 +107,11 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
// decode PNG from buffer
unsigned int w, h;
unsigned err = lodepng::decode(image.data_, w, h,
buffer, nbuffer, image.color_type_, 8);
lodepng::State state;
state.info_raw.colortype = image.color_type_;
state.info_raw.bitdepth = 8;
unsigned err = lodepng::decode(image.data_, w, h, state, buffer, nbuffer);
// check for errors
if (err) {
@@ -116,6 +122,7 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
image.width_ = w;
image.height_ = h;
image.is_srgb_ = (state.info_png.srgb_defined == 1);
if (image.width_ <= 0 || image.height_ < 0) {
std::stringstream ss;
@@ -4257,7 +4264,7 @@ void mjCTexture::BuiltinCube(void) {
// load PNG file
void mjCTexture::LoadPNG(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
unsigned int& w, unsigned int& h, bool& is_srgb) {
LodePNGColorType color_type;
if (nchannel == 4) {
color_type = LCT_RGBA;
@@ -4272,13 +4279,14 @@ void mjCTexture::LoadPNG(mjResource* resource,
PNGImage png_image = PNGImage::Load(this, resource, color_type);
w = png_image.Width();
h = png_image.Height();
is_srgb = png_image.IsSRGB();
image = png_image.MoveData();
}
// load custom file
void mjCTexture::LoadCustom(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
unsigned int& w, unsigned int& h, bool& is_srgb) {
const void* buffer = 0;
int buffer_sz = mju_readResource(resource, &buffer);
@@ -4295,6 +4303,9 @@ void mjCTexture::LoadCustom(mjResource* resource,
w = pint[0];
h = pint[1];
// assume linear color space
is_srgb = false;
// check dimensions
if (w < 1 || h < 1) {
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
@@ -4317,7 +4328,7 @@ void mjCTexture::LoadCustom(mjResource* resource,
// load from PNG or custom file, flip if specified
void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
unsigned int& w, unsigned int& h, bool& is_srgb) {
std::string asset_type = GetAssetContentType(filename, content_type_);
// fallback to custom
@@ -4333,9 +4344,9 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
try {
if (asset_type == "image/png") {
LoadPNG(resource, image, w, h);
LoadPNG(resource, image, w, h, is_srgb);
} else {
LoadCustom(resource, image, w, h);
LoadCustom(resource, image, w, h, is_srgb);
}
mju_closeResource(resource);
} catch(mjCError err) {
@@ -4402,12 +4413,16 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
void mjCTexture::Load2D(std::string filename, const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
bool is_srgb;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename, vfs, image, w, h, is_srgb);
// assign size
width = w;
height = h;
if (colorspace == mjCOLORSPACE_AUTO) {
colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
}
// allocate and copy data
std::int64_t size = static_cast<std::int64_t>(width)*height;
@@ -4435,8 +4450,13 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
bool is_srgb;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename, vfs, image, w, h, is_srgb);
if (colorspace == mjCOLORSPACE_AUTO) {
colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
}
// check gridsize for compatibility
if (w/gridsize[1] != h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -4549,8 +4569,14 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
bool is_srgb;
std::vector<unsigned char> image;
LoadFlip(filename.Str(), vfs, image, w, h);
LoadFlip(filename.Str(), vfs, image, w, h, is_srgb);
// assume all faces have the same colorspace
if (colorspace == mjCOLORSPACE_AUTO) {
colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
}
// PNG must be square
if (w != h) {
src/user/user_objects.h
+3 -3
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@@ -1328,14 +1328,14 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
void LoadFlip(std::string filename, const mjVFS* vfs, // load and flip
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
unsigned int& w, unsigned int& h, bool& is_srgb);
void LoadPNG(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
unsigned int& w, unsigned int& h, bool& is_srgb);
void LoadCustom(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
unsigned int& w, unsigned int& h, bool& is_srgb);
bool clear_data_; // if true, data_ is empty and should be filled by Compile
};
src/xml/xml_base.h
+2
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@@ -35,6 +35,7 @@ extern const int jac_sz;
extern const int solver_sz;
extern const int equality_sz;
extern const int texture_sz;
extern const int colorspace_sz;
extern const int builtin_sz;
extern const int mark_sz;
extern const int dyn_sz;
@@ -60,6 +61,7 @@ extern const mjMap jac_map[];
extern const mjMap solver_map[];
extern const mjMap equality_map[];
extern const mjMap texture_map[];
extern const mjMap colorspace_map[];
extern const mjMap texrole_map[];
extern const mjMap builtin_map[];
extern const mjMap mark_map[];
src/xml/xml_native_reader.cc
+14 -2
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@@ -241,8 +241,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"},
{"texture", "*", "23", "name", "type", "content_type", "file", "gridsize", "gridlayout",
"fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
{"texture", "*", "24", "name", "type", "colorspace", "content_type", "file", "gridsize",
"gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
"builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
"hflip", "vflip", "nchannel"},
{"material", "*", "12", "name", "class", "texture", "texrepeat", "texuniform",
@@ -650,6 +650,15 @@ const mjMap texture_map[texture_sz] = {
};
// colorspace for texture
const int colorspace_sz = 3;
const mjMap colorspace_map[colorspace_sz] = {
{"auto", mjCOLORSPACE_AUTO},
{"linear", mjCOLORSPACE_LINEAR},
{"sRGB", mjCOLORSPACE_SRGB}
};
// builtin type for texture
const int builtin_sz = 4;
const mjMap builtin_map[builtin_sz] = {
@@ -3194,6 +3203,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
if (MapValue(elem, "type", &n, texture_map, texture_sz)) {
texture->type = (mjtTexture)n;
}
if (MapValue(elem, "colorspace", &n, colorspace_map, colorspace_sz)) {
texture->colorspace = (mjtColorSpace)n;
}
if (ReadAttrTxt(elem, "name", texname)) {
mjs_setString(texture->name, texname.c_str());
}
src/xml/xml_native_writer.cc
+1
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@@ -1488,6 +1488,7 @@ void mjXWriter::Asset(XMLElement* root) {
// write common attributes
WriteAttrKey(elem, "type", texture_map, texture_sz, texture->type);
WriteAttrKey(elem, "colorspace", colorspace_map, colorspace_sz, texture->colorspace);
WriteAttrTxt(elem, "name", texture->name);
// write builtin
unity/Runtime/Bindings/MjBindings.cs
+6
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@@ -225,6 +225,11 @@ public enum mjtTextureRole : int{
mjTEXROLE_ORM = 9,
mjNTEXROLE = 10,
}
public enum mjtColorSpace : int{
mjCOLORSPACE_AUTO = 0,
mjCOLORSPACE_LINEAR = 1,
mjCOLORSPACE_SRGB = 2,
}
public enum mjtIntegrator : int{
mjINT_EULER = 0,
mjINT_RK4 = 1,
@@ -5569,6 +5574,7 @@ public unsafe struct mjModel_ {
public float* hfield_data;
public int* hfield_pathadr;
public int* tex_type;
public int* tex_colorspace;
public int* tex_height;
public int* tex_width;
public int* tex_nchannel;