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Efficiently handle 3-bytes pixel formats #743

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Aug 19, 2021
Merged

Efficiently handle 3-bytes pixel formats #743

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72f2a3e
Efficiently handle 3-bytes pixel formats
ahcorde Aug 16, 2021
a2b315b
Added feedback
ahcorde Aug 17, 2021
679b8af
Fixed windows warnings
ahcorde Aug 17, 2021
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19 changes: 11 additions & 8 deletions rviz_common/src/rviz_common/interaction/selection_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -267,14 +267,17 @@ void SelectionManager::unpackColors(const Ogre::PixelBox & box)
pixel_buffer_.clear();
pixel_buffer_.reserve(w * h);

for (uint32_t y = 0; y < h; ++y) {
for (uint32_t x = 0; x < w; ++x) {
uint32_t pos = (x + y * w) * 4;

uint32_t pix_val = *reinterpret_cast<uint32_t *>(static_cast<uint8_t *>(box.data) + pos);
uint32_t handle = colorToHandle(box.format, pix_val);

pixel_buffer_.push_back(handle);
size_t size = Ogre::PixelUtil::getMemorySize(1, 1, 1, box.format);

for (unsigned int y = 0; y < h; y++) {
for (unsigned int x = 0; x < w; x++) {
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Suggested change
for (unsigned int y = 0; y < h; y++) {
for (unsigned int x = 0; x < w; x++) {
for (uint32_t y = 0; y < h; y++) {
for (uint32_t x = 0; x < w; x++) {

(as far as I can tell, these are always uint32_t in https://github.com/OGRECave/ogre/blob/master/OgreMain/include/OgreCommon.h#L789-L791)

(it would also be awesome to use uint32_t for w and h above)

uint32_t pos = (x + y * w) * size;
uint32_t pix_val = 0;
memcpy(
reinterpret_cast<uint8_t *>(&pix_val),
reinterpret_cast<uint8_t *>(box.data + pos),
size);
pixel_buffer_.push_back(colorToHandle(box.format, pix_val));
}
}
}
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