diff --git a/RBS.db b/RBS.db new file mode 100644 index 0000000..41ade9e Binary files /dev/null and b/RBS.db differ diff --git a/RBS.db-shm b/RBS.db-shm new file mode 100644 index 0000000..a5571b9 Binary files /dev/null and b/RBS.db-shm differ diff --git a/RBS.db-wal b/RBS.db-wal new file mode 100644 index 0000000..7b61e1f Binary files /dev/null and b/RBS.db-wal differ diff --git a/maps/6f761198ec8414ef/map.png b/maps/6f761198ec8414ef/map.png new file mode 100644 index 0000000..2893724 Binary files /dev/null and b/maps/6f761198ec8414ef/map.png differ diff --git a/maps/6f761198ec8414ef/map.yaml b/maps/6f761198ec8414ef/map.yaml new file mode 100644 index 0000000..7cdd3c3 --- /dev/null +++ b/maps/6f761198ec8414ef/map.yaml @@ -0,0 +1,6 @@ +image: Denso_1.png +resolution: 0.050000 +origin: [-12.238091, -13.200000, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/maps/75500f988b7f4f23/map.png b/maps/75500f988b7f4f23/map.png new file mode 100644 index 0000000..2893724 Binary files /dev/null and b/maps/75500f988b7f4f23/map.png differ diff --git a/maps/75500f988b7f4f23/map.yaml b/maps/75500f988b7f4f23/map.yaml new file mode 100644 index 0000000..7cdd3c3 --- /dev/null +++ b/maps/75500f988b7f4f23/map.yaml @@ -0,0 +1,6 @@ +image: Denso_1.png +resolution: 0.050000 +origin: [-12.238091, -13.200000, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/src/server/api_media_routes.cpp b/src/server/api_media_routes.cpp index f4d69f7..2bdd740 100644 --- a/src/server/api_media_routes.cpp +++ b/src/server/api_media_routes.cpp @@ -153,6 +153,29 @@ void ApiServer::registerMediaRoutes(httplib::Server& svr) res.body = updated ? updated->dump() : nlohmann::json::object().dump(); }); + svr.Get(R"(/api/maps/([^/]+)/yaml$)", [this](const httplib::Request& req, httplib::Response& res) { + HttpUtil::addCors(res); + const std::string id = req.matches[1]; + const auto path = map_store_.yamlPath(id); + if (!path) + return HttpUtil::jsonError(res, 404, "map yaml not found"); + res.set_header("Content-Type", "text/yaml; charset=utf-8"); + res.body = FileUtil::readBinary(*path); + }); + + svr.Post(R"(/api/maps/([^/]+)/yaml$)", [this](const httplib::Request& req, httplib::Response& res) { + HttpUtil::addCors(res); + const std::string id = req.matches[1]; + if (req.body.empty()) + return HttpUtil::jsonError(res, 400, "yaml body is required"); + std::string err; + if (!map_store_.saveYamlFile(id, req.body, err)) + return HttpUtil::jsonError(res, 400, err); + const auto updated = map_store_.find(id); + res.set_header("Content-Type", "application/json; charset=utf-8"); + res.body = updated ? updated->dump() : nlohmann::json::object().dump(); + }); + svr.Get("/api/sounds", [this](const httplib::Request&, httplib::Response& res) { HttpUtil::addCors(res); res.set_header("Content-Type", "application/json; charset=utf-8"); diff --git a/src/storage/map_store.cpp b/src/storage/map_store.cpp index d6a4edf..d8e062b 100644 --- a/src/storage/map_store.cpp +++ b/src/storage/map_store.cpp @@ -307,6 +307,17 @@ std::optional MapStore::imagePath(const std::string& id) return path; } +std::optional MapStore::yamlPath(const std::string& id) const +{ + const auto map = find(id); + if (!map || !(*map)["yaml_file"].is_string()) + return std::nullopt; + const auto path = mapDir(id) / map->value("yaml_file", ""); + if (!std::filesystem::exists(path)) + return std::nullopt; + return path; +} + bool MapStore::saveImageFile(const std::string& id, const std::string& filename, const std::string& bytes, @@ -349,4 +360,44 @@ bool MapStore::saveImageFile(const std::string& id, return ok; } +bool MapStore::saveYamlFile(const std::string& id, const std::string& yaml_text, std::string& err) +{ + if (!find(id)) + { + err = "map not found"; + return false; + } + + constexpr const char* kYamlName = "map.yaml"; + std::error_code ec; + std::filesystem::create_directories(mapDir(id), ec); + const auto path = mapDir(id) / kYamlName; + if (!FileUtil::writeBinaryAtomic(path, yaml_text)) + { + err = "failed to write yaml file"; + return false; + } + + const std::string now = IdUtil::nowIso8601(); + std::lock_guard lock(mu_); + sqlite3_stmt* stmt = nullptr; + if (sqlite3_prepare_v2(db_.handle(), + "UPDATE maps SET yaml_file = ?2, updated_at = ?3 WHERE id = ?1", + -1, + &stmt, + nullptr) != SQLITE_OK) + { + err = sqlite3_errmsg(db_.handle()); + return false; + } + sqlite3_bind_text(stmt, 1, id.c_str(), -1, SQLITE_TRANSIENT); + sqlite3_bind_text(stmt, 2, kYamlName, -1, SQLITE_TRANSIENT); + sqlite3_bind_text(stmt, 3, now.c_str(), -1, SQLITE_TRANSIENT); + const bool ok = sqlite3_step(stmt) == SQLITE_DONE; + if (!ok) + err = sqlite3_errmsg(db_.handle()); + sqlite3_finalize(stmt); + return ok; +} + } // namespace lm diff --git a/src/storage/map_store.hpp b/src/storage/map_store.hpp index 5122bdc..0a61657 100644 --- a/src/storage/map_store.hpp +++ b/src/storage/map_store.hpp @@ -24,7 +24,9 @@ public: std::filesystem::path mapDir(const std::string& id) const; std::optional imagePath(const std::string& id) const; + std::optional yamlPath(const std::string& id) const; bool saveImageFile(const std::string& id, const std::string& filename, const std::string& bytes, std::string& err); + bool saveYamlFile(const std::string& id, const std::string& yaml_text, std::string& err); private: Database& db_; diff --git a/src/third_party/stb_image_write.h b/src/third_party/stb_image_write.h new file mode 100644 index 0000000..e4b32ed --- /dev/null +++ b/src/third_party/stb_image_write.h @@ -0,0 +1,1724 @@ +/* stb_image_write - v1.16 - 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 + Andrew Kensler + +LICENSE + + See end of file for license information. + +*/ + +#ifndef INCLUDE_STB_IMAGE_WRITE_H +#define INCLUDE_STB_IMAGE_WRITE_H + +#include + +// 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 +STBIWDEF int stbi_write_tga_with_rle; +STBIWDEF int stbi_write_png_compression_level; +STBIWDEF 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 STBIW_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 +#endif // STBI_WRITE_NO_STDIO + +#include +#include +#include +#include + +#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 +#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(_WIN32) && defined(STBIW_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(_WIN32) && defined(STBIW_WINDOWS_UTF8) + wchar_t wMode[64]; + wchar_t wFilename[1024]; + if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)/sizeof(*wFilename))) + return 0; + + if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)/sizeof(*wMode))) + return 0; + +#if defined(_MSC_VER) && _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 ((size_t)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 ((size_t)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) +{ + if (comp != 4) { + // write RGB bitmap + 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 + } else { + // RGBA bitmaps need a v4 header + // use BI_BITFIELDS mode with 32bpp and alpha mask + // (straight BI_RGB with alpha mask doesn't work in most readers) + return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *)data,1,0, + "11 4 22 4" "4 44 22 444444 4444 4 444 444 444 444", + 'B', 'M', 14+108+x*y*4, 0, 0, 14+108, // file header + 108, x,y, 1,32, 3,0,0,0,0,0, 0xff0000,0xff00,0xff,0xff000000u, 0, 0,0,0, 0,0,0, 0,0,0, 0,0,0); // bitmap V4 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)) + +#ifndef STBI_WRITE_NO_STDIO + +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_LIB_EXT1__ + 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); +} + +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); + + // store uncompressed instead if compression was worse + if (stbiw__sbn(out) > data_len + 2 + ((data_len+32766)/32767)*5) { + stbiw__sbn(out) = 2; // truncate to DEFLATE 32K window and FLEVEL = 1 + for (j = 0; j < data_len;) { + int blocklen = data_len - j; + if (blocklen > 32767) blocklen = 32767; + stbiw__sbpush(out, data_len - j == blocklen); // BFINAL = ?, BTYPE = 0 -- no compression + stbiw__sbpush(out, STBIW_UCHAR(blocklen)); // LEN + stbiw__sbpush(out, STBIW_UCHAR(blocklen >> 8)); + stbiw__sbpush(out, STBIW_UCHAR(~blocklen)); // NLEN + stbiw__sbpush(out, STBIW_UCHAR(~blocklen >> 8)); + memcpy(out+stbiw__sbn(out), data+j, blocklen); + stbiw__sbn(out) += blocklen; + j += blocklen; + } + } + + { + // 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<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 + 1.16 (2021-07-11) + make Deflate code emit uncompressed blocks when it would otherwise expand + support writing BMPs with alpha channel + 1.15 (2020-07-13) unknown + 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. +------------------------------------------------------------------------------ +*/ diff --git a/src/util/map_image_util.cpp b/src/util/map_image_util.cpp new file mode 100644 index 0000000..c0ab132 --- /dev/null +++ b/src/util/map_image_util.cpp @@ -0,0 +1,212 @@ +#include "util/map_image_util.hpp" + +#include "util/string_util.hpp" + +#include +#include +#include + +#define STB_IMAGE_WRITE_IMPLEMENTATION +#define STB_IMAGE_WRITE_STATIC +#include "third_party/stb_image_write.h" + +namespace lm { + +namespace { + +std::string lowerExt(const std::string& filename) +{ + const auto dot = filename.rfind('.'); + if (dot == std::string::npos) + return ""; + std::string ext = filename.substr(dot); + return StringUtil::toLower(ext); +} + +bool isPngExtension(const std::string& ext) +{ + return ext == ".png"; +} + +bool isPgmExtension(const std::string& ext) +{ + return ext == ".pgm"; +} + +bool pngMagic(const std::string& bytes) +{ + static const unsigned char kSig[] = {0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A}; + if (bytes.size() < 8) + return false; + return std::equal(std::begin(kSig), std::end(kSig), bytes.begin()); +} + +bool pgmMagic(const std::string& bytes) +{ + return bytes.size() >= 2 && bytes[0] == 'P' && (bytes[1] == '5' || bytes[1] == '2'); +} + +void applyNegate(std::vector& gray) +{ + for (auto& px : gray) + px = static_cast(255 - px); +} + +} // namespace + +bool MapImageUtil::decodePgm(const std::string& bytes, std::vector& gray, ImageSize& size, std::string& err) +{ + if (bytes.size() < 4 || bytes[0] != 'P') + { + err = "not a PGM image"; + return false; + } + if (bytes[1] != '5') + { + err = "only binary PGM (P5) is supported"; + return false; + } + + std::size_t i = 2; + auto skipSpace = [&]() { + while (i < bytes.size() && (bytes[i] == ' ' || bytes[i] == '\t' || bytes[i] == '\r' || bytes[i] == '\n')) + ++i; + }; + auto readInt = [&](int& out) -> bool { + for (;;) + { + skipSpace(); + if (i < bytes.size() && bytes[i] == '#') + { + while (i < bytes.size() && bytes[i] != '\n') + ++i; + continue; + } + if (i >= bytes.size() || !std::isdigit(static_cast(bytes[i]))) + return false; + out = 0; + while (i < bytes.size() && std::isdigit(static_cast(bytes[i]))) + { + out = out * 10 + (bytes[i] - '0'); + ++i; + } + return true; + } + }; + + skipSpace(); + if (!readInt(size.width) || !readInt(size.height)) + { + err = "invalid PGM header"; + return false; + } + int maxval = 0; + if (!readInt(maxval)) + { + err = "invalid PGM header"; + return false; + } + if (size.width <= 0 || size.height <= 0 || maxval <= 0 || maxval > 65535) + { + err = "invalid PGM dimensions"; + return false; + } + + if (i < bytes.size() && bytes[i] == '\r') + ++i; + if (i < bytes.size() && bytes[i] == '\n') + ++i; + + const std::size_t data_size = static_cast(size.width) * static_cast(size.height); + if (bytes.size() - i < data_size) + { + err = "PGM data truncated"; + return false; + } + + gray.assign(bytes.begin() + static_cast(i), + bytes.begin() + static_cast(i + data_size)); + if (maxval != 255) + { + const double scale = 255.0 / static_cast(maxval); + for (auto& px : gray) + px = static_cast(std::min(255.0, px * scale)); + } + return true; +} + +bool MapImageUtil::pngDimensions(const std::string& bytes, ImageSize& size, std::string& err) +{ + if (!pngMagic(bytes)) + { + err = "not a PNG image"; + return false; + } + if (bytes.size() < 24) + { + err = "PNG header truncated"; + return false; + } + auto readU32 = [&](std::size_t pos) -> int { + return (static_cast(bytes[pos]) << 24) | (static_cast(bytes[pos + 1]) << 16) | + (static_cast(bytes[pos + 2]) << 8) | static_cast(bytes[pos + 3]); + }; + size.width = readU32(16); + size.height = readU32(20); + if (size.width <= 0 || size.height <= 0) + { + err = "invalid PNG dimensions"; + return false; + } + return true; +} + +bool MapImageUtil::toPngBytes(const std::string& bytes, + const std::string& filename_hint, + int negate, + std::string& png_out, + ImageSize& size, + std::string& err) +{ + const std::string ext = lowerExt(filename_hint); + const bool as_png = isPngExtension(ext) || pngMagic(bytes); + const bool as_pgm = isPgmExtension(ext) || (!as_png && pgmMagic(bytes)); + + if (as_png) + { + if (!pngDimensions(bytes, size, err)) + return false; + if (negate == 0) + { + png_out = bytes; + return true; + } + err = "PNG negate not supported"; + return false; + } + + if (!as_pgm) + { + err = "image must be PNG or PGM"; + return false; + } + + std::vector gray; + if (!decodePgm(bytes, gray, size, err)) + return false; + if (negate != 0) + applyNegate(gray); + + int out_len = 0; + unsigned char* png_mem = stbi_write_png_to_mem(gray.data(), size.width, size.width, size.height, 1, &out_len); + if (!png_mem || out_len <= 0) + { + err = "failed to encode PNG"; + return false; + } + png_out.assign(reinterpret_cast(png_mem), static_cast(out_len)); + STBIW_FREE(png_mem); + return true; +} + +} // namespace lm diff --git a/src/util/map_image_util.hpp b/src/util/map_image_util.hpp new file mode 100644 index 0000000..0839fed --- /dev/null +++ b/src/util/map_image_util.hpp @@ -0,0 +1,36 @@ +#pragma once + +#include +#include +#include + +namespace lm { + +struct ImageSize +{ + int width = 0; + int height = 0; +}; + +class MapImageUtil +{ +public: + /** Decode P5 PGM (grayscale). */ + static bool decodePgm(const std::string& bytes, std::vector& gray, ImageSize& size, std::string& err); + + /** Read PNG width/height from IHDR without full decode. */ + static bool pngDimensions(const std::string& bytes, ImageSize& size, std::string& err); + + /** + * Normalize map image to PNG bytes (always output filename map.png). + * Supports PNG passthrough or PGM conversion; optional negate (ROS map_server). + */ + static bool toPngBytes(const std::string& bytes, + const std::string& filename_hint, + int negate, + std::string& png_out, + ImageSize& size, + std::string& err); +}; + +} // namespace lm diff --git a/src/util/ros_map_yaml.cpp b/src/util/ros_map_yaml.cpp new file mode 100644 index 0000000..b0b44c8 --- /dev/null +++ b/src/util/ros_map_yaml.cpp @@ -0,0 +1,166 @@ +#include "util/ros_map_yaml.hpp" + +#include "util/string_util.hpp" + +#include + +namespace lm { + +namespace { + +std::string stripComment(const std::string& line) +{ + const auto pos = line.find('#'); + if (pos == std::string::npos) + return line; + return line.substr(0, pos); +} + +std::string trim(const std::string& s) +{ + return StringUtil::trimCopy(s); +} + +bool parseOriginArray(const std::string& value, RosMapYaml& out) +{ + const auto start = value.find('['); + const auto end = value.find(']'); + if (start == std::string::npos || end == std::string::npos || end <= start) + return false; + + std::string inner = value.substr(start + 1, end - start - 1); + for (char& c : inner) + { + if (c == ',') + c = ' '; + } + std::istringstream iss(inner); + double x = 0, y = 0, yaw = 0; + if (!(iss >> x >> y)) + return false; + iss >> yaw; + out.origin_x = x; + out.origin_y = y; + out.origin_yaw = yaw; + return true; +} + +double parseDouble(const std::string& value, bool& ok) +{ + ok = false; + try + { + size_t idx = 0; + const double v = std::stod(value, &idx); + if (idx > 0) + ok = true; + return v; + } + catch (...) + { + return 0.0; + } +} + +int parseInt(const std::string& value, bool& ok) +{ + ok = false; + try + { + size_t idx = 0; + const int v = std::stoi(value, &idx); + if (idx > 0) + ok = true; + return v; + } + catch (...) + { + return 0; + } +} + +} // namespace + +std::optional RosMapYamlParser::parse(const std::string& yaml_text, std::string& err) +{ + RosMapYaml out; + std::istringstream stream(yaml_text); + std::string line; + bool has_resolution = false; + + while (std::getline(stream, line)) + { + line = trim(stripComment(line)); + if (line.empty()) + continue; + + const auto colon = line.find(':'); + if (colon == std::string::npos) + continue; + + const std::string key = trim(line.substr(0, colon)); + const std::string value = trim(line.substr(colon + 1)); + if (value.empty() && key != "image") + continue; + + if (key == "image") + { + out.image = value; + } + else if (key == "resolution") + { + bool ok = false; + out.resolution = parseDouble(value, ok); + if (!ok || out.resolution <= 0.0) + { + err = "invalid resolution in yaml"; + return std::nullopt; + } + has_resolution = true; + } + else if (key == "origin") + { + if (!parseOriginArray(value, out)) + { + err = "invalid origin in yaml"; + return std::nullopt; + } + } + else if (key == "negate") + { + bool ok = false; + out.negate = parseInt(value, ok); + if (!ok) + out.negate = 0; + } + else if (key == "occupied_thresh") + { + bool ok = false; + out.occupied_thresh = parseDouble(value, ok); + if (!ok) + out.occupied_thresh = 0.65; + } + else if (key == "free_thresh") + { + bool ok = false; + out.free_thresh = parseDouble(value, ok); + if (!ok) + out.free_thresh = 0.196; + } + } + + if (out.image.empty()) + { + err = "yaml missing image field"; + return std::nullopt; + } + if (!has_resolution) + { + err = "yaml missing resolution field"; + return std::nullopt; + } + + return out; +} + +} // namespace lm diff --git a/src/util/ros_map_yaml.hpp b/src/util/ros_map_yaml.hpp new file mode 100644 index 0000000..b0ac4ce --- /dev/null +++ b/src/util/ros_map_yaml.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include +#include + +namespace lm { + +struct RosMapYaml +{ + std::string image; + double resolution = 0.05; + double origin_x = 0.0; + double origin_y = 0.0; + double origin_yaw = 0.0; + int negate = 0; + double occupied_thresh = 0.65; + double free_thresh = 0.196; +}; + +class RosMapYamlParser +{ +public: + static std::optional parse(const std::string& yaml_text, std::string& err); +}; + +} // namespace lm diff --git a/www/i18n.js b/www/i18n.js index 16b9dd6..b9e073a 100644 --- a/www/i18n.js +++ b/www/i18n.js @@ -358,11 +358,25 @@ "maps.settings.originX": "Origin X", "maps.settings.originY": "Origin Y", "maps.settings.originYaw": "Origin yaw", + "maps.editor.originLabelShort": "Gốc ({x}, {y})", + "maps.editor.originTooltip": "Origin map: X={x} m, Y={y} m, yaw={yaw}°", + "maps.uploadConfirm.title": "Ghi đè floor plan?", + "maps.uploadConfirm.text": "Ảnh map hiện tại sẽ bị thay thế. Tiếp tục?", + "maps.uploadConfirm.yes": "Ghi đè", + "maps.uploadMeta.title": "Metadata map (ROS)", + "maps.uploadMeta.hint": "Nhập origin, resolution và ngưỡng occupancy — hoặc import file .yaml.", + "maps.uploadMeta.importYaml": "Import file YAML…", + "maps.uploadMeta.negate": "Negate", + "maps.uploadMeta.occupiedThresh": "Occupied thresh", + "maps.uploadMeta.freeThresh": "Free thresh", + "maps.uploadMeta.continue": "Tiếp tục — chọn PNG", + "maps.uploadMeta.invalidResolution": "Resolution phải lớn hơn 0.", + "maps.uploadMeta.invalidYaml": "Không đọc được file YAML.", "maps.editor.back": "Maps", "maps.editor.goBack": "Quay lại", "maps.editor.subtitle": "Chỉnh sửa và vẽ map.", "maps.editor.helpTitle": "Trợ giúp map editor", - "maps.editor.helpText": "Dùng công cụ Pan để kéo map, zoom bằng nút +/- hoặc con lăn chuột. Menu ⋮ để upload/lưu map.", + "maps.editor.helpText": "Ba lớp: View (pan/zoom màn hình) → Image (pixel floor plan, 20 px/m) → World (X,Y mét). Dùng Pan, zoom, Fit; di chuột để xem tọa độ.", "maps.editor.toolbarAria": "Mapping tools", "maps.editor.canvasTip": "Kéo map để di chuyển vùng nhìn hoặc dùng nút zoom in/out để phóng to/thu nhỏ.", "maps.editor.unsaved": "Chưa lưu", @@ -381,7 +395,12 @@ "maps.editor.fit": "Vừa khung", "maps.editor.zoomIn": "Phóng to", "maps.editor.zoomOut": "Thu nhỏ", - "maps.editor.noData": "Chưa có dữ liệu map — mở menu ⋮ để upload PNG.", + "maps.editor.noData": "Chưa có floor plan — menu ⋮ để upload PNG.", + "maps.editor.statusView": "zoom {zoom}% · pan ({panX}, {panY})", + "maps.editor.statusImageIdle": "— px (di chuột trên map)", + "maps.editor.statusImage": "({px}, {py}) px", + "maps.editor.statusWorldIdle": "— m", + "maps.editor.statusWorld": "X {x}, Y {y} m", "maps.editor.objectTypesNone": "Chưa chọn object-type", "maps.menu.save": "Lưu map", @@ -858,11 +877,25 @@ "maps.settings.originX": "Origin X", "maps.settings.originY": "Origin Y", "maps.settings.originYaw": "Origin yaw", + "maps.editor.originLabelShort": "Origin ({x}, {y})", + "maps.editor.originTooltip": "Map origin: X={x} m, Y={y} m, yaw={yaw}°", + "maps.uploadConfirm.title": "Overwrite floor plan?", + "maps.uploadConfirm.text": "The current map image will be replaced. Continue?", + "maps.uploadConfirm.yes": "Overwrite", + "maps.uploadMeta.title": "Map metadata (ROS)", + "maps.uploadMeta.hint": "Enter origin, resolution, and occupancy thresholds — or import a .yaml file.", + "maps.uploadMeta.importYaml": "Import YAML file…", + "maps.uploadMeta.negate": "Negate", + "maps.uploadMeta.occupiedThresh": "Occupied thresh", + "maps.uploadMeta.freeThresh": "Free thresh", + "maps.uploadMeta.continue": "Continue — choose PNG", + "maps.uploadMeta.invalidResolution": "Resolution must be greater than 0.", + "maps.uploadMeta.invalidYaml": "Could not read YAML file.", "maps.editor.back": "Maps", "maps.editor.goBack": "Go back", "maps.editor.subtitle": "Edit and draw the map.", "maps.editor.helpTitle": "Map editor help", - "maps.editor.helpText": "Use the Pan tool to drag the map, zoom with +/- buttons or the mouse wheel. Open ⋮ menu to upload or save the map.", + "maps.editor.helpText": "Three layers: View (screen pan/zoom) → Image (floor plan pixels, 20 px/m) → World (X,Y in metres). Use Pan, zoom, Fit; hover for coordinates.", "maps.editor.toolbarAria": "Mapping tools", "maps.editor.canvasTip": "Drag the map to move your view or use the zoom-in and -out buttons to zoom.", "maps.editor.unsaved": "Unsaved", @@ -881,7 +914,12 @@ "maps.editor.fit": "Fit to view", "maps.editor.zoomIn": "Zoom in", "maps.editor.zoomOut": "Zoom out", - "maps.editor.noData": "No map data — open ⋮ menu to upload a PNG.", + "maps.editor.noData": "No floor plan — ⋮ menu to upload PNG.", + "maps.editor.statusView": "zoom {zoom}% · pan ({panX}, {panY})", + "maps.editor.statusImageIdle": "— px (hover map)", + "maps.editor.statusImage": "({px}, {py}) px", + "maps.editor.statusWorldIdle": "— m", + "maps.editor.statusWorld": "X {x}, Y {y} m", "maps.editor.objectTypesNone": "No object-type selected", "maps.menu.save": "Save map", diff --git a/www/index.html b/www/index.html index 5b4fce7..18d4c28 100644 --- a/www/index.html +++ b/www/index.html @@ -1038,14 +1038,31 @@
Drag the map to move your view or use the zoom-in and -out buttons to zoom.
-
+ +
-
- - + +
+
+ + + + +
+ +
+ View — + Image — + World — +
@@ -1152,21 +1169,21 @@
@@ -1176,12 +1193,72 @@ + +
+

Overwrite map?

+

+
+ + +
+
+ + + +
+

Map metadata

+

Enter ROS map_server parameters or import a .yaml file.

+ + +
+ + +
+
+ + +
+
+ + +
+ +
+ + +
+
+ + -

Activate map?

-

-
- - +
+

Activate map?

+

+
+ + +
@@ -1645,6 +1722,8 @@ GET /api/v2.0.0/status + + diff --git a/www/map-editor.js b/www/map-editor.js index e88e9f2..b4417e2 100644 --- a/www/map-editor.js +++ b/www/map-editor.js @@ -1,6 +1,7 @@ (() => { const el = (id) => document.getElementById(id); const t = (key, vars) => window.I18n?.t(key, vars) ?? key; + const Geo = () => window.MapGeo; const state = { mapId: null, @@ -9,23 +10,46 @@ readOnly: false, dirty: false, activeTool: "pan", - view: { scale: 1, panX: 0, panY: 0 }, + /** Layer 1 — view space (screen pan/zoom only). */ + view: Geo()?.createView(1, 0, 0) || { scale: 1, panX: 0, panY: 0 }, panning: null, tipVisible: true, + /** Pending ROS metadata from upload dialog (set before PNG picker). */ + uploadMeta: null, }; const titleEl = el("mapEditorTitle"); const dirtyEl = el("mapEditorDirty"); const canvasWrapEl = el("mapEditorCanvasWrap"); + const viewportEl = el("mapEditorViewport"); const canvasInnerEl = el("mapEditorCanvasInner"); + const imageLayerEl = el("mapEditorImageLayer"); const sheetEl = el("mapEditorSheet"); + const gridEl = el("mapEditorSheetGrid"); const imageEl = el("mapEditorImage"); + const originEl = el("mapEditorOrigin"); const emptyEl = el("mapEditorEmpty"); const tipEl = el("mapEditorCanvasTip"); + const statusViewEl = el("mapEditorStatusView"); + const statusImageEl = el("mapEditorStatusImage"); + const statusWorldEl = el("mapEditorStatusWorld"); const uploadInputEl = el("mapEditorUploadInput"); const menuDialogEl = el("mapEditorMenuDialog"); const settingsDialogEl = el("mapEditorSettingsDialog"); const activateDialogEl = el("mapActivateDialog"); + const uploadConfirmDialogEl = el("mapUploadConfirmDialog"); + const uploadMetaDialogEl = el("mapUploadMetaDialog"); + const uploadYamlInputEl = el("mapUploadYamlInput"); + + const uploadMetaFields = { + resolution: el("mapUploadResolution"), + originX: el("mapUploadOriginX"), + originY: el("mapUploadOriginY"), + originYaw: el("mapUploadOriginYaw"), + negate: el("mapUploadNegate"), + occupiedThresh: el("mapUploadOccupiedThresh"), + freeThresh: el("mapUploadFreeThresh"), + }; const toolBtnEls = () => document.querySelectorAll(".mapEditorMapTool[data-tool]"); @@ -59,6 +83,20 @@ return `/api/maps/${encodeURIComponent(map.id)}/image?t=${encodeURIComponent(map.updated_at || "")}`; } + function viewportSize() { + const rect = viewportEl?.getBoundingClientRect(); + return { width: rect?.width || 1, height: rect?.height || 1 }; + } + + /** Layer 2 — image dimensions in floor-plan pixels. */ + function floorPlanSize() { + return Geo()?.imageSize(state.map, imageEl) || { width: 0, height: 0 }; + } + + function hasFloorPlan() { + return !!(state.map?.image_file && imageEl && !imageEl.hidden && imageEl.naturalWidth); + } + function setDirty(flag) { state.dirty = !!flag; if (dirtyEl) dirtyEl.hidden = !state.dirty; @@ -86,51 +124,184 @@ updateCanvasCursor(); } - function centerSheetInView() { - if (!canvasWrapEl || !sheetEl) return; - const wrap = canvasWrapEl.getBoundingClientRect(); - const sw = sheetEl.offsetWidth || 480; - const sh = sheetEl.offsetHeight || 360; - state.view.panX = Math.max(40, (wrap.width - sw * state.view.scale) / 2); - state.view.panY = Math.max(40, (wrap.height - sh * state.view.scale) / 2); - } - + /** Layer 1 — apply view transform to inner canvas only. */ function applyViewTransform() { - if (!canvasInnerEl) return; - const { scale, panX, panY } = state.view; - canvasInnerEl.style.transform = `translate(${panX}px, ${panY}px) scale(${scale})`; + Geo()?.applyViewTransform(canvasInnerEl, state.view); + updateStatusBar(); } function fitToView() { dismissCanvasTip(); - if (!canvasWrapEl || !sheetEl) return; - const wrap = canvasWrapEl.getBoundingClientRect(); - const sw = imageEl && !imageEl.hidden ? imageEl.naturalWidth || sheetEl.offsetWidth : sheetEl.offsetWidth; - const sh = imageEl && !imageEl.hidden ? imageEl.naturalHeight || sheetEl.offsetHeight : sheetEl.offsetHeight; - const pad = 48; - const scale = Math.min((wrap.width - pad) / sw, (wrap.height - pad) / sh, 4); - state.view.scale = Math.max(0.1, scale); - state.view.panX = (wrap.width - sw * state.view.scale) / 2; - state.view.panY = (wrap.height - sh * state.view.scale) / 2; + const vp = viewportSize(); + const { width, height } = floorPlanSize(); + const blankW = sheetEl?.offsetWidth || 480; + const blankH = sheetEl?.offsetHeight || 360; + state.view = Geo()?.fitViewToImage( + vp.width, + vp.height, + hasFloorPlan() ? width : blankW, + hasFloorPlan() ? height : blankH, + ) || state.view; applyViewTransform(); updateCanvasCursor(); } - function zoomBy(factor) { - dismissCanvasTip(); - state.view.scale = Math.min(8, Math.max(0.1, state.view.scale * factor)); + function centerSheetInView() { + const vp = viewportSize(); + const { width, height } = floorPlanSize(); + const blankW = sheetEl?.offsetWidth || 480; + const blankH = sheetEl?.offsetHeight || 360; + state.view = Geo()?.centerViewOnImage( + vp.width, + vp.height, + hasFloorPlan() ? width : blankW, + hasFloorPlan() ? height : blankH, + state.view, + ) || state.view; applyViewTransform(); } - function updateSheetSize() { - if (!sheetEl || !imageEl) return; - if (!imageEl.hidden && imageEl.naturalWidth) { - sheetEl.style.width = `${imageEl.naturalWidth}px`; - sheetEl.style.minHeight = `${imageEl.naturalHeight}px`; + function zoomBy(factor, anchorClientX, anchorClientY) { + dismissCanvasTip(); + const vpRect = viewportEl?.getBoundingClientRect(); + if (!vpRect) return; + const anchorVx = anchorClientX != null ? anchorClientX - vpRect.left : vpRect.width / 2; + const anchorVy = anchorClientY != null ? anchorClientY - vpRect.top : vpRect.height / 2; + state.view = Geo()?.zoomViewAt(state.view, anchorVx, anchorVy, factor) || state.view; + applyViewTransform(); + } + + /** Layer 2 — sheet sized 1:1 with PNG pixels. */ + function updateImageLayer() { + if (!sheetEl || !imageLayerEl) return; + const has = hasFloorPlan(); + const { width, height } = floorPlanSize(); + + sheetEl.classList.toggle("mapEditorSheet--hasImage", has); + sheetEl.classList.toggle("mapEditorSheet--blank", !has); + + if (has && width && height) { + sheetEl.style.width = `${width}px`; + sheetEl.style.height = `${height}px`; + imageLayerEl.style.width = `${width}px`; + imageLayerEl.style.height = `${height}px`; } else { sheetEl.style.width = ""; + sheetEl.style.height = ""; sheetEl.style.minWidth = "480px"; sheetEl.style.minHeight = "360px"; + imageLayerEl.style.width = ""; + imageLayerEl.style.height = ""; + } + + if (gridEl && has) { + const mapForLayer = mapMetaForOriginDisplay() || state.map; + const steps = Geo()?.gridSteps(mapForLayer) || { minor: 20, major: 100 }; + gridEl.style.setProperty("--map-grid-minor", `${steps.minor}px`); + gridEl.style.setProperty("--map-grid-major", `${steps.major}px`); + gridEl.hidden = false; + } else if (gridEl) { + gridEl.hidden = true; + } + + if (originEl) originEl.hidden = !has; + updateOriginMarker(); + updateStatusBar(); + } + + /** Origin fields → world (0,0) on the floor plan (ROS map_server). */ + function mapMetaForOriginDisplay() { + if (!state.map) return null; + const base = { ...state.map }; + if (uploadMetaDialogEl?.open) { + const m = readUploadMetaPayload(); + return { ...base, ...m }; + } + if (settingsDialogEl?.open || state.dirty) { + const s = readSettingsPayload(); + return { ...base, ...s }; + } + return base; + } + + function updateOriginMarker() { + if (!originEl) return; + const geo = Geo(); + const { width, height } = floorPlanSize(); + if (!geo || !hasFloorPlan() || !width || !height) { + originEl.hidden = true; + originEl.setAttribute("aria-hidden", "true"); + return; + } + + const mapMeta = mapMetaForOriginDisplay(); + const pt = geo.worldToPixel(mapMeta, width, height, 0, 0); + const ox = Number(mapMeta?.origin_x) || 0; + const oy = Number(mapMeta?.origin_y) || 0; + const oyaw = Number(mapMeta?.origin_yaw) || 0; + const yawDeg = (-oyaw * 180) / Math.PI; + const onMap = pt.x >= -2 && pt.y >= -2 && pt.x <= width + 2 && pt.y <= height + 2; + + originEl.hidden = false; + originEl.setAttribute("aria-hidden", "false"); + originEl.classList.toggle("mapEditorOrigin--offMap", !onMap); + originEl.style.left = `${pt.x}px`; + originEl.style.top = `${pt.y}px`; + originEl.style.transform = `rotate(${yawDeg}deg)`; + + const labelEl = el("mapEditorOriginLabel"); + if (labelEl) { + labelEl.textContent = t("maps.editor.originLabelShort", { + x: ox.toFixed(2), + y: oy.toFixed(2), + }); + } + originEl.title = t("maps.editor.originTooltip", { + x: ox.toFixed(3), + y: oy.toFixed(3), + yaw: ((oyaw * 180) / Math.PI).toFixed(1), + }); + } + + function updateStatusBar(pointerClient) { + const geo = Geo(); + const { width, height } = floorPlanSize(); + const pct = Math.round((state.view.scale || 1) * 100); + + if (statusViewEl) { + statusViewEl.textContent = t("maps.editor.statusView", { + zoom: pct, + panX: Math.round(state.view.panX), + panY: Math.round(state.view.panY), + }); + } + + if (!geo || !hasFloorPlan() || !pointerClient) { + if (statusImageEl) statusImageEl.textContent = t("maps.editor.statusImageIdle"); + if (statusWorldEl) statusWorldEl.textContent = t("maps.editor.statusWorldIdle"); + return; + } + + const sheetRect = sheetEl?.getBoundingClientRect(); + const imgPt = geo.clientToImage(pointerClient.x, pointerClient.y, sheetRect, width, height); + if (!imgPt) { + if (statusImageEl) statusImageEl.textContent = t("maps.editor.statusImageIdle"); + if (statusWorldEl) statusWorldEl.textContent = t("maps.editor.statusWorldIdle"); + return; + } + + const world = geo.pixelToWorld(state.map, width, height, imgPt.x, imgPt.y); + if (statusImageEl) { + statusImageEl.textContent = t("maps.editor.statusImage", { + px: Math.round(imgPt.x), + py: Math.round(imgPt.y), + }); + } + if (statusWorldEl) { + statusWorldEl.textContent = t("maps.editor.statusWorld", { + x: world.x.toFixed(2), + y: world.y.toFixed(2), + }); } } @@ -148,11 +319,11 @@ if (emptyEl) emptyEl.hidden = false; } updateMenuActionsUi(); - updateSheetSize(); + updateImageLayer(); imageEl?.addEventListener( "load", () => { - updateSheetSize(); + updateImageLayer(); fitToView(); }, { once: true }, @@ -222,6 +393,7 @@ state.dirty = false; state.tipVisible = true; state.activeTool = "pan"; + state.view = Geo()?.createView(1, 0, 0) || { scale: 1, panX: 0, panY: 0 }; if (tipEl) { tipEl.hidden = false; tipEl.textContent = t("maps.editor.canvasTip"); @@ -236,9 +408,12 @@ state.mapId = null; state.map = null; state.callbacks = {}; + state.uploadMeta = null; menuDialogEl?.close(); settingsDialogEl?.close(); activateDialogEl?.close(); + uploadConfirmDialogEl?.close(); + uploadMetaDialogEl?.close(); } function loadImageDimensions(file) { @@ -257,15 +432,119 @@ }); } + function readUploadMetaPayload() { + return { + resolution: Number(uploadMetaFields.resolution?.value) || 0.05, + origin_x: Number(uploadMetaFields.originX?.value) || 0, + origin_y: Number(uploadMetaFields.originY?.value) || 0, + origin_yaw: Number(uploadMetaFields.originYaw?.value) || 0, + negate: Number(uploadMetaFields.negate?.value) || 0, + occupied_thresh: Number(uploadMetaFields.occupiedThresh?.value) || 0.65, + free_thresh: Number(uploadMetaFields.freeThresh?.value) || 0.196, + }; + } + + function fillUploadMetaForm(meta) { + const m = meta || {}; + if (uploadMetaFields.resolution) { + uploadMetaFields.resolution.value = m.resolution != null ? m.resolution : 0.05; + } + if (uploadMetaFields.originX) uploadMetaFields.originX.value = m.origin_x != null ? m.origin_x : 0; + if (uploadMetaFields.originY) uploadMetaFields.originY.value = m.origin_y != null ? m.origin_y : 0; + if (uploadMetaFields.originYaw) uploadMetaFields.originYaw.value = m.origin_yaw != null ? m.origin_yaw : 0; + if (uploadMetaFields.negate) uploadMetaFields.negate.value = m.negate != null ? m.negate : 0; + if (uploadMetaFields.occupiedThresh) { + uploadMetaFields.occupiedThresh.value = m.occupied_thresh != null ? m.occupied_thresh : 0.65; + } + if (uploadMetaFields.freeThresh) { + uploadMetaFields.freeThresh.value = m.free_thresh != null ? m.free_thresh : 0.196; + } + } + + async function fetchExistingYamlMeta() { + if (!state.map?.yaml_file) return null; + try { + const res = await fetch(`/api/maps/${encodeURIComponent(state.map.id)}/yaml`, { + credentials: "include", + }); + if (!res.ok) return null; + const text = await res.text(); + const parsed = window.MapYaml?.parse(text); + if (!parsed || parsed.error) return null; + return parsed; + } catch { + return null; + } + } + + async function openUploadMetaDialog() { + const map = state.map; + const defaults = { + resolution: map?.resolution != null ? map.resolution : 0.05, + origin_x: map?.origin_x != null ? map.origin_x : 0, + origin_y: map?.origin_y != null ? map.origin_y : 0, + origin_yaw: map?.origin_yaw != null ? map.origin_yaw : 0, + negate: 0, + occupied_thresh: 0.65, + free_thresh: 0.196, + }; + const fromYaml = await fetchExistingYamlMeta(); + fillUploadMetaForm(fromYaml || defaults); + menuDialogEl?.close(); + uploadMetaDialogEl?.showModal(); + updateOriginMarker(); + } + + function beginUploadOverwrite() { + if (!state.map || state.readOnly) return; + if (state.map.image_file) { + const textEl = el("mapUploadConfirmText"); + if (textEl) textEl.textContent = t("maps.uploadConfirm.text"); + menuDialogEl?.close(); + uploadConfirmDialogEl?.showModal(); + return; + } + openUploadMetaDialog().catch((e) => alert(e.message)); + } + + function applyYamlToUploadForm(text) { + const parsed = window.MapYaml?.parse(text); + if (!parsed || parsed.error) { + alert(t("maps.uploadMeta.invalidYaml")); + return; + } + fillUploadMetaForm(parsed); + } + + async function saveYamlForMap(imageFilename) { + const meta = state.uploadMeta || readUploadMetaPayload(); + const yamlText = window.MapYaml?.serialize({ + ...meta, + image: imageFilename || "map.png", + }); + if (!yamlText) return; + await api(`/api/maps/${encodeURIComponent(state.map.id)}/yaml`, { + method: "POST", + headers: { "Content-Type": "text/yaml; charset=utf-8" }, + body: yamlText, + }); + } + async function uploadImage(file) { if (!state.map || !file || state.readOnly) return; if (!/\.png$/i.test(file.name)) { alert(t("maps.error.pngOnly")); return; } + const meta = state.uploadMeta || readUploadMetaPayload(); + if (!meta.resolution || meta.resolution <= 0) { + alert(t("maps.uploadMeta.invalidResolution")); + return; + } const dims = await loadImageDimensions(file); + const pngName = file.name.endsWith(".png") ? file.name : `${file.name}.png`; const form = new FormData(); - form.append("file", file, file.name.endsWith(".png") ? file.name : `${file.name}.png`); + form.append("file", file, pngName); const res = await fetch(`/api/maps/${encodeURIComponent(state.map.id)}/image`, { credentials: "include", method: "POST", @@ -286,16 +565,28 @@ method: "PUT", headers: { "Content-Type": "application/json" }, body: JSON.stringify({ - ...readSettingsPayload(), + resolution: meta.resolution, + origin_x: meta.origin_x, + origin_y: meta.origin_y, + origin_yaw: meta.origin_yaw, width: dims.width, height: dims.height, }), }); + try { + await saveYamlForMap(pngName); + updated = (await api(`/api/maps/${encodeURIComponent(state.map.id)}`)) || updated; + } catch { + /* yaml save is best-effort */ + } + state.uploadMeta = null; state.map = updated; state.callbacks.onMapUpdated?.(updated); setDirty(false); + fillSettingsForm(); renderMapImage(); menuDialogEl?.close(); + uploadMetaDialogEl?.close(); promptActivate(); } @@ -315,6 +606,7 @@ state.callbacks.onMapUpdated?.(updated); setDirty(false); updateHeader(); + updateImageLayer(); menuDialogEl?.close(); promptActivate(); } @@ -341,15 +633,32 @@ } function bindCanvasPanZoom() { - canvasWrapEl?.addEventListener("wheel", (evt) => { + const blockNativeDrag = (evt) => { + evt.preventDefault(); + }; + + imageEl?.addEventListener("dragstart", blockNativeDrag); + sheetEl?.addEventListener("dragstart", blockNativeDrag); + imageLayerEl?.addEventListener("dragstart", blockNativeDrag); + + viewportEl?.addEventListener("wheel", (evt) => { evt.preventDefault(); dismissCanvasTip(); const factor = evt.deltaY < 0 ? 1.1 : 0.9; - zoomBy(factor); + zoomBy(factor, evt.clientX, evt.clientY); }, { passive: false }); - canvasWrapEl?.addEventListener("mousedown", (evt) => { + viewportEl?.addEventListener("mousemove", (evt) => { + updateStatusBar({ x: evt.clientX, y: evt.clientY }); + }); + + viewportEl?.addEventListener("mouseleave", () => { + updateStatusBar(); + }); + + viewportEl?.addEventListener("mousedown", (evt) => { if (evt.button !== 0 || state.activeTool !== "pan") return; + evt.preventDefault(); dismissCanvasTip(); state.panning = { startX: evt.clientX, @@ -372,6 +681,11 @@ state.panning = null; updateCanvasCursor(); }); + + window.addEventListener("resize", () => { + if (!state.mapId) return; + applyViewTransform(); + }); } function bindEvents() { @@ -394,6 +708,7 @@ el("mapEditorSettingsBtn")?.addEventListener("click", () => { fillSettingsForm(); settingsDialogEl?.showModal(); + updateOriginMarker(); }); el("mapEditorSaveBtn")?.addEventListener("click", () => { saveMap().catch((e) => alert(e.message)); @@ -403,12 +718,17 @@ el("mapEditorCenterBtn")?.addEventListener("click", () => { dismissCanvasTip(); centerSheetInView(); - applyViewTransform(); }); - el("mapEditorZoomInBtn")?.addEventListener("click", () => zoomBy(1.2)); - el("mapEditorZoomOutBtn")?.addEventListener("click", () => zoomBy(1 / 1.2)); + el("mapEditorZoomInBtn")?.addEventListener("click", () => { + const rect = viewportEl?.getBoundingClientRect(); + zoomBy(1.2, rect ? rect.left + rect.width / 2 : undefined, rect ? rect.top + rect.height / 2 : undefined); + }); + el("mapEditorZoomOutBtn")?.addEventListener("click", () => { + const rect = viewportEl?.getBoundingClientRect(); + zoomBy(1 / 1.2, rect ? rect.left + rect.width / 2 : undefined, rect ? rect.top + rect.height / 2 : undefined); + }); - el("mapMenuUploadOverwrite")?.addEventListener("click", () => uploadInputEl?.click()); + el("mapMenuUploadOverwrite")?.addEventListener("click", () => beginUploadOverwrite()); el("mapMenuDownload")?.addEventListener("click", () => { const url = mapImageUrl(state.map); if (!url) return; @@ -426,11 +746,59 @@ uploadImage(file).catch((e) => alert(e.message)); }); + el("mapUploadConfirmYesBtn")?.addEventListener("click", () => { + uploadConfirmDialogEl?.close(); + openUploadMetaDialog().catch((e) => alert(e.message)); + }); + el("mapUploadConfirmNoBtn")?.addEventListener("click", () => uploadConfirmDialogEl?.close()); + uploadConfirmDialogEl?.addEventListener("cancel", (evt) => { + evt.preventDefault(); + uploadConfirmDialogEl?.close(); + }); + + el("mapUploadImportYamlBtn")?.addEventListener("click", () => uploadYamlInputEl?.click()); + uploadYamlInputEl?.addEventListener("change", () => { + const file = uploadYamlInputEl.files?.[0]; + uploadYamlInputEl.value = ""; + if (!file) return; + const reader = new FileReader(); + reader.onload = () => { + applyYamlToUploadForm(String(reader.result || "")); + updateOriginMarker(); + }; + reader.onerror = () => alert(t("maps.uploadMeta.invalidYaml")); + reader.readAsText(file); + }); + + el("mapUploadMetaCancelBtn")?.addEventListener("click", () => { + state.uploadMeta = null; + uploadMetaDialogEl?.close(); + updateOriginMarker(); + }); + uploadMetaDialogEl?.addEventListener("cancel", (evt) => { + evt.preventDefault(); + state.uploadMeta = null; + uploadMetaDialogEl?.close(); + updateOriginMarker(); + }); + el("mapUploadMetaForm")?.addEventListener("submit", (evt) => { + evt.preventDefault(); + const meta = readUploadMetaPayload(); + if (!meta.resolution || meta.resolution <= 0) { + alert(t("maps.uploadMeta.invalidResolution")); + return; + } + state.uploadMeta = meta; + uploadMetaDialogEl?.close(); + uploadInputEl?.click(); + }); + el("mapEditorSettingsForm")?.addEventListener("submit", (evt) => { evt.preventDefault(); if (!state.map) return; Object.assign(state.map, readSettingsPayload()); setDirty(true); + updateImageLayer(); updateHeader(); settingsDialogEl?.close(); }); @@ -441,12 +809,26 @@ el("mapActivateNoBtn")?.addEventListener("click", () => activateDialogEl?.close()); Object.values(settingsFields).forEach((node) => { - node?.addEventListener("input", () => setDirty(true)); + node?.addEventListener("input", () => { + setDirty(true); + updateOriginMarker(); + }); + }); + + Object.values(uploadMetaFields).forEach((node) => { + node?.addEventListener("input", () => { + updateOriginMarker(); + if (node === uploadMetaFields.resolution && uploadMetaDialogEl?.open) { + updateImageLayer(); + } + }); }); window.addEventListener("lm:locale-change", () => { if (state.tipVisible && tipEl) tipEl.textContent = t("maps.editor.canvasTip"); updateHeader(); + updateStatusBar(); + updateOriginMarker(); }); } diff --git a/www/map-geo.js b/www/map-geo.js new file mode 100644 index 0000000..c5244bd --- /dev/null +++ b/www/map-geo.js @@ -0,0 +1,160 @@ +(() => { + /** + * MiR-style map coordinate model (3 layers): + * + * 1. View space — screen pixels in the viewport; pan + zoom (UI only). + * 2. Image space — floor plan pixels (1 px image = 1 px on sheet; 20 px/m at res 0.05). + * 3. World space — map coordinates in metres + yaw (robot, positions). + * + * view --scale+translate--> image --resolution+origin--> world + */ + + function meta(map) { + return { + resolution: Number(map?.resolution) || 0.05, + originX: Number(map?.origin_x) || 0, + originY: Number(map?.origin_y) || 0, + originYaw: Number(map?.origin_yaw) || 0, + width: Number(map?.width) || 0, + height: Number(map?.height) || 0, + }; + } + + function pixelsPerMeter(map) { + const res = meta(map).resolution; + return res > 0 ? 1 / res : 20; + } + + function imageSize(map, imageEl) { + const w = imageEl?.naturalWidth || meta(map).width || 0; + const h = imageEl?.naturalHeight || meta(map).height || 0; + return { width: w, height: h }; + } + + /** --- View space (layer 1) --- */ + + function createView(scale = 1, panX = 0, panY = 0) { + return { scale, panX, panY }; + } + + function applyViewTransform(el, view) { + if (!el || !view) return; + el.style.transform = `translate(${view.panX}px, ${view.panY}px) scale(${view.scale})`; + } + + function fitViewToImage(viewportW, viewportH, imageW, imageH, pad = 48) { + if (!imageW || !imageH) { + return createView(1, Math.max(40, pad), Math.max(40, pad)); + } + const scale = Math.min((viewportW - pad) / imageW, (viewportH - pad) / imageH, 4); + const s = Math.max(0.1, scale); + return { + scale: s, + panX: (viewportW - imageW * s) / 2, + panY: (viewportH - imageH * s) / 2, + }; + } + + function centerViewOnImage(viewportW, viewportH, imageW, imageH, view) { + const s = view?.scale || 1; + return { + scale: s, + panX: Math.max(40, (viewportW - imageW * s) / 2), + panY: Math.max(40, (viewportH - imageH * s) / 2), + }; + } + + /** Viewport-local px → image px (inverse of translate+scale). */ + function viewportToImage(view, vx, vy) { + const s = view.scale || 1; + return { + x: (vx - view.panX) / s, + y: (vy - view.panY) / s, + }; + } + + /** Image px → viewport-local px. */ + function imageToViewport(view, ix, iy) { + return { + x: view.panX + ix * view.scale, + y: view.panY + iy * view.scale, + }; + } + + /** Zoom toward a viewport anchor; keeps image point under cursor fixed. */ + function zoomViewAt(view, anchorVx, anchorVy, factor, minScale = 0.1, maxScale = 8) { + const img = viewportToImage(view, anchorVx, anchorVy); + const nextScale = Math.min(maxScale, Math.max(minScale, view.scale * factor)); + return { + scale: nextScale, + panX: anchorVx - img.x * nextScale, + panY: anchorVy - img.y * nextScale, + }; + } + + /** --- Image space (layer 2) --- */ + + function gridSteps(map) { + const ppm = pixelsPerMeter(map); + return { + minor: Math.max(1, Math.round(ppm)), + major: Math.max(1, Math.round(ppm * 5)), + }; + } + + function clampImagePoint(px, py, imageW, imageH) { + if (px < 0 || py < 0 || px > imageW || py > imageH) return null; + return { x: px, y: py }; + } + + /** Screen/client coords → image px using the transformed sheet rect. */ + function clientToImage(clientX, clientY, sheetRect, imageW, imageH) { + if (!sheetRect?.width || !sheetRect?.height || !imageW || !imageH) return null; + const px = ((clientX - sheetRect.left) / sheetRect.width) * imageW; + const py = ((clientY - sheetRect.top) / sheetRect.height) * imageH; + return clampImagePoint(px, py, imageW, imageH); + } + + /** --- World space (layer 3) — ROS map_server convention --- */ + + function worldToPixel(map, imgW, imgH, wx, wy) { + const { resolution, originX, originY } = meta(map); + return { + x: (wx - originX) / resolution, + y: imgH - (wy - originY) / resolution, + }; + } + + function pixelToWorld(map, imgW, imgH, px, py) { + const { resolution, originX, originY } = meta(map); + return { + x: originX + px * resolution, + y: originY + (imgH - py) * resolution, + }; + } + + /** Viewport pointer → world (chains view→image→world). */ + function clientToWorld(map, clientX, clientY, sheetRect, imageW, imageH) { + const img = clientToImage(clientX, clientY, sheetRect, imageW, imageH); + if (!img) return null; + return pixelToWorld(map, imageW, imageH, img.x, img.y); + } + + window.MapGeo = { + meta, + pixelsPerMeter, + imageSize, + createView, + applyViewTransform, + fitViewToImage, + centerViewOnImage, + viewportToImage, + imageToViewport, + zoomViewAt, + gridSteps, + clientToImage, + clientToWorld, + worldToPixel, + pixelToWorld, + }; +})(); diff --git a/www/map-import.js b/www/map-import.js new file mode 100644 index 0000000..8f90dd2 --- /dev/null +++ b/www/map-import.js @@ -0,0 +1,97 @@ +(() => { + const t = (key, vars) => window.I18n?.t(key, vars) ?? key; + + function fileStem(name) { + const base = String(name).replace(/^.*[/\\]/, ""); + const dot = base.lastIndexOf("."); + return dot >= 0 ? base.slice(0, dot) : base; + } + + function isYamlFile(file) { + return /\.ya?ml$/i.test(file.name); + } + + function isMapImageFile(file) { + return /\.(png|pgm)$/i.test(file.name); + } + + async function matchRosMapFiles(fileList) { + const files = Array.from(fileList || []); + const yamlFile = files.find(isYamlFile); + if (!yamlFile) { + throw new Error(t("maps.importNeedYaml")); + } + + let imageFile = files.find((f) => f !== yamlFile && isMapImageFile(f)); + try { + const yamlText = await yamlFile.text(); + const imageRef = yamlText.match(/^image:\s*(\S+)/m)?.[1]; + if (imageRef) { + const refStem = fileStem(imageRef); + const matched = files.find( + (f) => f !== yamlFile && isMapImageFile(f) && fileStem(f.name) === refStem, + ); + if (matched) imageFile = matched; + } + } catch { + /* best-effort stem match */ + } + + if (!imageFile) { + throw new Error(t("maps.importNeedImage")); + } + + return { yamlFile, imageFile }; + } + + function buildFormData(yamlFile, imageFile, extras = {}) { + const form = new FormData(); + form.append("yaml", yamlFile, yamlFile.name); + form.append("image", imageFile, imageFile.name); + Object.entries(extras).forEach(([key, value]) => { + if (value != null && value !== "") form.append(key, value); + }); + return form; + } + + async function apiImport(path, form) { + const res = await fetch(path, { method: "POST", credentials: "include", body: form }); + if (!res.ok) { + let msg = res.statusText; + try { + const err = await res.json(); + if (err.error) msg = err.error; + } catch { + /* ignore */ + } + throw new Error(msg); + } + return res.json(); + } + + async function importNewMap(fileList, extras = {}) { + const { yamlFile, imageFile } = await matchRosMapFiles(fileList); + const form = buildFormData(yamlFile, imageFile, { + name: extras.name || fileStem(yamlFile.name), + site_id: extras.site_id || "", + created_by: extras.created_by || "", + description: extras.description || "", + }); + return apiImport("/api/maps/import", form); + } + + async function importOverwriteMap(mapId, fileList) { + const { yamlFile, imageFile } = await matchRosMapFiles(fileList); + const form = buildFormData(yamlFile, imageFile); + return apiImport(`/api/maps/${encodeURIComponent(mapId)}/import`, form); + } + + window.MapImport = { + fileStem, + isYamlFile, + isMapImageFile, + matchRosMapFiles, + importNewMap, + importOverwriteMap, + }; +})(); diff --git a/www/map-yaml.js b/www/map-yaml.js new file mode 100644 index 0000000..80e9a88 --- /dev/null +++ b/www/map-yaml.js @@ -0,0 +1,104 @@ +(() => { + function stripComment(line) { + const pos = line.indexOf("#"); + return pos === -1 ? line : line.slice(0, pos); + } + + function trim(s) { + return String(s || "").trim(); + } + + function parseOriginArray(value) { + const start = value.indexOf("["); + const end = value.indexOf("]"); + if (start === -1 || end === -1 || end <= start) return null; + const parts = value + .slice(start + 1, end) + .split(",") + .map((p) => Number(trim(p))) + .filter((n) => !Number.isNaN(n)); + if (parts.length < 2) return null; + return { origin_x: parts[0], origin_y: parts[1], origin_yaw: parts[2] || 0 }; + } + + function parseNumber(value) { + const n = Number(value); + return Number.isFinite(n) ? n : null; + } + + function parseIntField(value) { + const n = parseInt(value, 10); + return Number.isFinite(n) ? n : null; + } + + /** + * Parse ROS map_server yaml (resolution, origin, thresholds). + * @param {string} text + * @param {{ requireImage?: boolean }} opts + */ + function parse(text, opts = {}) { + const requireImage = !!opts.requireImage; + const out = { + image: "", + resolution: null, + origin_x: 0, + origin_y: 0, + origin_yaw: 0, + negate: 0, + occupied_thresh: 0.65, + free_thresh: 0.196, + }; + + for (const rawLine of String(text || "").split(/\r?\n/)) { + const line = trim(stripComment(rawLine)); + if (!line) continue; + const colon = line.indexOf(":"); + if (colon === -1) continue; + const key = trim(line.slice(0, colon)); + const value = trim(line.slice(colon + 1)); + if (!value && key !== "image") continue; + + if (key === "image") out.image = value; + else if (key === "resolution") out.resolution = parseNumber(value); + else if (key === "origin") { + const origin = parseOriginArray(value); + if (origin) Object.assign(out, origin); + } else if (key === "negate") { + const n = parseIntField(value); + if (n != null) out.negate = n; + } else if (key === "occupied_thresh") { + const n = parseNumber(value); + if (n != null) out.occupied_thresh = n; + } else if (key === "free_thresh") { + const n = parseNumber(value); + if (n != null) out.free_thresh = n; + } + } + + if (requireImage && !out.image) return { error: "yaml missing image field" }; + if (out.resolution == null || out.resolution <= 0) return { error: "yaml missing resolution field" }; + return out; + } + + function serialize(meta) { + const image = meta.image || "map.png"; + const resolution = meta.resolution != null ? meta.resolution : 0.05; + const ox = meta.origin_x != null ? meta.origin_x : 0; + const oy = meta.origin_y != null ? meta.origin_y : 0; + const oyaw = meta.origin_yaw != null ? meta.origin_yaw : 0; + const negate = meta.negate != null ? meta.negate : 0; + const occ = meta.occupied_thresh != null ? meta.occupied_thresh : 0.65; + const free = meta.free_thresh != null ? meta.free_thresh : 0.196; + return [ + `image: ${image}`, + `resolution: ${Number(resolution).toFixed(6)}`, + `origin: [${Number(ox).toFixed(6)}, ${Number(oy).toFixed(6)}, ${Number(oyaw).toFixed(6)}]`, + `negate: ${negate}`, + `occupied_thresh: ${Number(occ).toFixed(3)}`, + `free_thresh: ${Number(free).toFixed(3)}`, + "", + ].join("\n"); + } + + window.MapYaml = { parse, serialize }; +})(); diff --git a/www/style.css b/www/style.css index ff0cfe4..f2853fd 100644 --- a/www/style.css +++ b/www/style.css @@ -3245,11 +3245,11 @@ body.auth-readonly-integrations .integrationToolbar .btn.primary { pointer-event .mapsMirBtn svg { flex-shrink: 0; } .mapsMirBtn--green { - background: var(--mir-green); + background: var(--mir-green, #5cb85c); color: #fff; } -.mapsMirBtn--green:hover { background: var(--mir-green-hover); } +.mapsMirBtn--green:hover { background: var(--mir-green-hover, #4cae4c); } .mapsMirBtn--outline { background: #fff; @@ -3461,6 +3461,8 @@ body.auth-readonly-integrations .integrationToolbar .btn.primary { pointer-event } .mapsMirDialog { + --mir-green: #5cb85c; + --mir-green-hover: #4cae4c; border: none; border-radius: 6px; padding: 0; @@ -3472,7 +3474,8 @@ body.auth-readonly-integrations .integrationToolbar .btn.primary { pointer-event .mapsMirDialog::backdrop { background: rgba(0, 0, 0, 0.35); } .mapsMirDialog form, -.mapsMirDialog--menu { padding: 20px 22px; } +.mapsMirDialog--menu, +.mapsMirDialogPanel { padding: 20px 22px; } .mapsMirDialog--mapMenu { max-width: 720px; @@ -3681,6 +3684,8 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { /* Map editor — MiR §4.2.3 Mapping tools */ .mapEditorPage { + --mir-green: #5cb85c; + --mir-green-hover: #4cae4c; display: flex; flex-direction: column; height: 100%; @@ -3856,6 +3861,8 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { min-height: 0; overflow: hidden; background: #b8b8b8; + display: flex; + flex-direction: column; } .mapEditorCanvasWrap.is-panning { @@ -3887,8 +3894,9 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { } .mapEditorViewport { - position: absolute; - inset: 0; + position: relative; + flex: 1; + min-height: 0; overflow: hidden; } @@ -3897,6 +3905,14 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { top: 0; left: 0; transform-origin: 0 0; + will-change: transform; +} + +/* Layer 2 — image / floor plan space (1 CSS px = 1 image px). */ +.mapEditorImageLayer { + position: relative; + transform-origin: 0 0; + user-select: none; } .mapEditorSheet { @@ -3905,14 +3921,150 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { min-height: 360px; background: #fff; box-shadow: 0 2px 16px rgba(0, 0, 0, 0.12); + user-select: none; +} + +.mapEditorSheet--blank { + background: #fafafa; +} + +.mapEditorSheet--hasImage { + background: #fff; + min-width: 0; + min-height: 0; +} + +.mapEditorSheetGrid { + position: absolute; + inset: 0; + pointer-events: none; + z-index: 0; + opacity: 0.45; + background-image: + linear-gradient(to right, rgba(0, 0, 0, 0.08) 1px, transparent 1px), + linear-gradient(to bottom, rgba(0, 0, 0, 0.08) 1px, transparent 1px), + linear-gradient(to right, rgba(0, 0, 0, 0.18) 1px, transparent 1px), + linear-gradient(to bottom, rgba(0, 0, 0, 0.18) 1px, transparent 1px); + background-size: + var(--map-grid-minor, 20px) var(--map-grid-minor, 20px), + var(--map-grid-minor, 20px) var(--map-grid-minor, 20px), + var(--map-grid-major, 100px) var(--map-grid-major, 100px), + var(--map-grid-major, 100px) var(--map-grid-major, 100px); +} + +.mapEditorOrigin { + position: absolute; + left: 0; + top: 0; + width: 0; + height: 0; + pointer-events: none; + z-index: 3; +} + +.mapEditorOriginAxis { + position: absolute; + left: 0; + top: 0; + transform-origin: 0 0; +} + +.mapEditorOriginAxis--x { + width: 36px; + height: 2px; + background: #e74c3c; + box-shadow: 0 0 0 1px rgba(255, 255, 255, 0.6); +} + +.mapEditorOriginAxis--y { + width: 2px; + height: 36px; + background: #27ae60; + box-shadow: 0 0 0 1px rgba(255, 255, 255, 0.6); +} + +.mapEditorOriginDot { + position: absolute; + left: -4px; + top: -4px; + width: 8px; + height: 8px; + border-radius: 50%; + background: #e67e22; + border: 2px solid #fff; + box-shadow: 0 0 0 1px rgba(0, 0, 0, 0.25); +} + +.mapEditorOriginLabel { + position: absolute; + left: 8px; + top: -22px; + padding: 2px 6px; + border-radius: 3px; + background: rgba(255, 255, 255, 0.92); + border: 1px solid rgba(230, 126, 34, 0.55); + color: #c0392b; + font-size: 11px; + font-weight: 600; + white-space: nowrap; + line-height: 1.3; + box-shadow: 0 1px 4px rgba(0, 0, 0, 0.12); +} + +.mapEditorOrigin--offMap .mapEditorOriginLabel { + color: #888; + border-color: #ccc; } .mapEditorImage { display: block; - max-width: none; + position: relative; + z-index: 1; width: 100%; - height: auto; + height: 100%; + max-width: none; image-rendering: pixelated; + image-rendering: crisp-edges; + user-select: none; + -webkit-user-drag: none; + pointer-events: none; +} + +.mapEditorStatusBar { + flex-shrink: 0; + display: grid; + grid-template-columns: repeat(3, minmax(0, 1fr)); + gap: 8px; + padding: 6px 12px; + background: rgba(32, 32, 32, 0.94); + color: #ddd; + font-size: 11px; + font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; + border-top: 1px solid rgba(255, 255, 255, 0.08); +} + +.mapEditorStatusItem { + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; +} + +.mapEditorStatusItem--view::before { + content: "View · "; + color: #8ab4f8; + font-weight: 600; +} + +.mapEditorStatusItem--image::before { + content: "Image · "; + color: #81c995; + font-weight: 600; +} + +.mapEditorStatusItem--world::before { + content: "World · "; + color: #f9ab00; + font-weight: 600; } .mapEditorEmpty { @@ -3932,7 +4084,8 @@ body.auth-readonly-maps-page .mapsMirMapMenuCancelBtn { display: none !important; } -body.auth-readonly-maps-page .mapsMirBtn--green, +body.auth-readonly-maps-page #mapsListView .mapsMirBtn--green, +body.auth-readonly-maps-page #mapsCreateView .mapsMirBtn--green, body.auth-readonly-maps-page .mapsMirIconBtn[data-edit], body.auth-readonly-maps-page .mapsMirIconBtn[data-delete], body.auth-readonly-maps-page #mapsCreateOpenBtn,