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[backport Galactic] Efficiently handle 3-bytes pixel formats (#743) #750

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merged 1 commit into from Sep 13, 2021
Merged

[backport Galactic] Efficiently handle 3-bytes pixel formats (#743) #750

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23 changes: 13 additions & 10 deletions rviz_common/src/rviz_common/interaction/selection_manager.cpp
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Expand Up @@ -261,20 +261,23 @@ void SelectionManager::setHighlightRect(Ogre::Viewport * viewport, int x1, int y

void SelectionManager::unpackColors(const Ogre::PixelBox & box)
{
auto w = box.getWidth();
auto h = box.getHeight();
uint32_t w = box.getWidth();
uint32_t h = box.getHeight();

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 (uint32_t y = 0; y < h; y++) {
for (uint32_t x = 0; x < w; x++) {
uint32_t pos = static_cast<uint32_t>((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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