Instead of caching PNGImage results, cache mjCTexture and mjCHField assets.
PiperOrigin-RevId: 813307632 Change-Id: I9de8b46423f57240d22811571d0533b010ee1e2b
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
59d0676dcc
commit
4d590afdad
+88
-35
@@ -80,22 +80,6 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
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LodePNGColorType color_type) {
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PNGImage image;
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image.color_type_ = color_type;
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mjCCache *cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
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// cache callback
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auto callback = [&image](const void* data) {
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const PNGImage *cached_image = static_cast<const PNGImage*>(data);
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if (cached_image->color_type_ == image.color_type_) {
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image = *cached_image;
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return true;
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}
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return false;
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};
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// try loading from cache
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if (cache && cache->PopulateData(resource->name, resource, callback)) {
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return image;
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}
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// open PNG resource
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const unsigned char* buffer;
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@@ -146,16 +130,6 @@ PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
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throw mjCError(obj, "%s", ss.str().c_str());
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}
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// insert raw image data into cache
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if (cache) {
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PNGImage *cached_image = new PNGImage(image);;
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std::size_t size = image.Size();
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std::shared_ptr<const void> cached_data(cached_image, +[] (const void* data) {
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delete static_cast<const PNGImage*>(data);
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});
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cache->Insert("", resource->name, resource, cached_data, size);
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}
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return image;
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}
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@@ -4397,6 +4371,12 @@ mjCHField::~mjCHField() {
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}
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std::string mjCHField::GetCacheId(const mjResource* resource, const std::string& asset_type) {
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std::stringstream ss;
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ss << "mjCHField:" << resource->name << ";ARGS:content_type=" << asset_type;
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return ss.str();
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}
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// load elevation data from custom format
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void mjCHField::LoadCustom(mjResource* resource) {
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@@ -4493,6 +4473,8 @@ void mjCHField::Compile(const mjVFS* vfs) {
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throw mjCError(this, "hfield specified from file and manually");
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}
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mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
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std::string asset_type = GetAssetContentType(file_, content_type_);
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// fallback to custom
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@@ -4514,16 +4496,46 @@ void mjCHField::Compile(const mjVFS* vfs) {
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FilePath filename = meshdir_ + FilePath(file_);
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mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
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try {
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if (asset_type == "image/png") {
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LoadPNG(resource);
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} else {
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LoadCustom(resource);
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struct CachedHField {
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int nrow, ncol;
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std::vector<float> data;
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};
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// cache callback
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auto callback = [&](const void* cached_data) {
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const CachedHField* cached_hfield =
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static_cast<const CachedHField*>(cached_data);
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nrow = cached_hfield->nrow;
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ncol = cached_hfield->ncol;
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this->data = cached_hfield->data;
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return true;
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};
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// try loading from cache
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if (cache && cache->PopulateData(GetCacheId(resource, asset_type), resource, callback)) {
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mju_closeResource(resource);
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} else {
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try {
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if (asset_type == "image/png") {
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LoadPNG(resource);
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} else {
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LoadCustom(resource);
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}
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} catch(mjCError err) {
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mju_closeResource(resource);
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throw err;
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}
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if (cache) {
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CachedHField* cached_hfield = new CachedHField;
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cached_hfield->nrow = nrow;
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cached_hfield->ncol = ncol;
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cached_hfield->data = this->data;
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std::size_t size = sizeof(CachedHField) + this->data.size() * sizeof(float);
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std::shared_ptr<CachedHField> cached_data{cached_hfield};
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cache->Insert("", GetCacheId(resource, asset_type), resource, cached_data, size);
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}
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mju_closeResource(resource);
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} catch(mjCError err) {
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mju_closeResource(resource);
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throw err;
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}
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}
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@@ -5021,10 +5033,36 @@ void mjCTexture::FlipIfNeeded(std::vector<std::byte>& image, unsigned int w,
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}
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}
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std::string mjCTexture::GetCacheId(const mjResource* resource, const std::string& asset_type) {
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std::stringstream ss;
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ss << resource->name << ";ARGS:content_type=" << asset_type << ",nchannel=" << nchannel
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<< ",hflip=" << hflip << ",vflip=" << vflip << ";";
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return ss.str();
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}
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// load from PNG or custom file, flip if specified
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void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
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std::vector<std::byte>& image,
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unsigned int& w, unsigned int& h, bool& is_srgb) {
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mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
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struct CachedImage {
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unsigned int w, h, n_ch;
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bool is_srgb;
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std::vector<std::byte> image;
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};
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// cache callback
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auto callback = [&](const void* data) {
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const CachedImage* cached_image =
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static_cast<const CachedImage*>(data);
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w = cached_image->w;
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h = cached_image->h;
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is_srgb = cached_image->is_srgb;
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image = cached_image->image;
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return true;
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};
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std::string asset_type = GetAssetContentType(filename, content_type_);
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// fallback to custom
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@@ -5036,7 +5074,12 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
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throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
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}
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// try loading from cache
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mjResource* resource = LoadResource(modelfiledir_.Str(), filename, vfs);
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if (cache && cache->PopulateData(GetCacheId(resource, asset_type), resource, callback)) {
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mju_closeResource(resource);
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return;
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}
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try {
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if (asset_type == "image/png") {
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@@ -5049,13 +5092,23 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
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} else {
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LoadCustom(resource, image, w, h, is_srgb);
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}
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mju_closeResource(resource);
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} catch(mjCError err) {
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mju_closeResource(resource);
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throw err;
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}
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FlipIfNeeded(image, w, h);
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if (cache) {
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CachedImage* cached_texture = new CachedImage;
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cached_texture->w = w;
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cached_texture->h = h;
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cached_texture->is_srgb = is_srgb;
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cached_texture->image = image;
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std::size_t size = sizeof(CachedImage) + image.size();
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std::shared_ptr<CachedImage> cached_data{cached_texture};
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cache->Insert("", GetCacheId(resource, asset_type), resource, cached_data, size);
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}
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mju_closeResource(resource);
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}
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// load 2D
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@@ -1395,6 +1395,7 @@ class mjCHField : public mjCHField_, private mjsHField {
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private:
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void Compile(const mjVFS* vfs); // compiler
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std::string GetCacheId(const mjResource* resource, const std::string& asset_type);
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void LoadCustom(mjResource* resource); // load from custom format
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void LoadPNG(mjResource* resource); // load from PNG format
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};
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@@ -1444,11 +1445,14 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
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private:
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void Compile(const mjVFS* vfs); // compiler
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void Builtin2D(void); // make builtin 2D
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void BuiltinCube(void); // make builtin cube
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void Load2D(std::string filename, const mjVFS* vfs); // load 2D from file
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void LoadCubeSingle(std::string filename, const mjVFS* vfs); // load cube from single file
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void LoadCubeSeparate(const mjVFS* vfs); // load cube from separate files
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// store texture into asset cache
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std::string GetCacheId(const mjResource* resource, const std::string& asset_type);
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void Builtin2D(void); // make builtin 2D
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void BuiltinCube(void); // make builtin cube
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void Load2D(std::string filename, const mjVFS* vfs); // load 2D from file
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void LoadCubeSingle(std::string filename,
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const mjVFS* vfs); // load cube from single file
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void LoadCubeSeparate(const mjVFS* vfs); // load cube from separate files
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void FlipIfNeeded(std::vector<std::byte>& image, unsigned int w, unsigned int h);
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