further simplification

Author: jlblancoc

modules/mrpt_img/include/mrpt/img/CImage.h

@@ -89,7 +89,6 @@ class CExceptionExternalImageNotFound : public std::runtime_error
  *   the methods CImage::loadFromFile() and CImage::saveToFile(). This uses the [stb
  *   library](https://github.com/nothings/stb).
  * - Importing from an XPM array (.xpm file format) using CImage::loadFromXPM()
- * - Importing TGA images. See CImage::loadTGA()
  * - Binary dump using the CSerializable interface(<< and >> operators),
  *just as most objects in MRPT. This format is not compatible with any
  *standardized image format but it is fast.
@@ -825,10 +824,10 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
    * (internally uses OpenCV).
    * \param fileName The file to read from.
    *
-   * MRPT also provides the special loaders loadFromXPM() and loadTGA().
+   * MRPT also provides the special loader loadFromXPM().
    *
    * \return False on any error
-   * \sa saveToFile, setExternalStorage,loadFromXPM, loadTGA
+   * \sa saveToFile, setExternalStorage,loadFromXPM
    */
   [[nodiscard]] bool loadFromFile(
       const std::string& fileName, TImageChannels loadChannels = CH_AS_IS);
@@ -842,13 +841,6 @@ class CImage : public mrpt::serialization::CSerializable, public CCanvas
   [[nodiscard]] static mrpt::img::CImage LoadFromFile(
       const std::string& fileName, TImageChannels loadChannels = CH_AS_IS);
 
-  /** Loads a TGA true-color RGBA image as two CImage objects, one for the RGB
-   * channels plus a separate gray-level image with A channel.
-   * \return true on success
-   */
-  [[nodiscard]] static bool LoadTGA(
-      const std::string& fileName, mrpt::img::CImage& out_RGB, mrpt::img::CImage& out_alpha);
-
   /** Loads the image from an XPM array, as included from a ".xpm" file.
    * \param[in] swap_rb Swaps red/blue channels from loaded image. *Seems* to
    * be always needed, so it's enabled by default.

modules/mrpt_img/src/CCanvas.cpp

@@ -250,27 +250,29 @@ void CCanvas::drawImage(const TPixelCoord& pt, const mrpt::img::CImage& img)
 
   if (img.isColor())
   {
-    for (unsigned int xx = 0; xx < img_lx; xx++)
+    for (int32_t xx = 0; xx < img_lx; xx++)
     {
-      for (unsigned int yy = 0; yy < img_ly; yy++)
+      for (int32_t yy = 0; yy < img_ly; yy++)
       {
         auto ptr = img.ptr<uint8_t>(xx, yy);
         const int p = ptr[0] | (ptr[1] << 8) | (ptr[2] << 16);
-        setPixel(x + xx, y + yy, p);
+        setPixel(pt.x + xx, pt.y + yy, p);
       }
     }
   }
   else
   {
     unsigned char c;
     int col;
-    for (int xx = 0; xx < img_lx; xx++)
-      for (int yy = 0; yy < img_ly; yy++)
+    for (int32_t xx = 0; xx < img_lx; xx++)
+    {
+      for (int32_t yy = 0; yy < img_ly; yy++)
       {
         c = *((unsigned char*)img(xx, yy));
         col = c | (c << 8) | (c << 16);
-        setPixel(x + xx, y + yy, col);
+        setPixel(pt.x + xx, pt.y + yy, col);
       }
+    }
   }
 
   MRPT_END

modules/mrpt_img/src/CImage.cpp

@@ -1625,93 +1625,12 @@ float CImage::KLT_response(const TPixelCoord& pt, const int32_t half_window_size
   return 0.5f * (t - std::sqrt(discr));
 }
 
-// Load from TGA files. Used in loadFromFile()
-// Contains code from
-// https://github.com/tjohnman/Simple-Targa-Library/blob/master/src/simpleTGA.cpp
-// (FreeBSD license)
-bool CImage::LoadTGA(
-    const std::string& fileName, mrpt::img::CImage& out_RGB, mrpt::img::CImage& out_alpha)
-{
-  std::fstream stream;
-  stream.open(fileName.c_str(), std::fstream::in | std::fstream::binary);
-  if (!stream.is_open())
-  {
-    std::cerr << "[CImage::loadTGA] Couldn't open file '" << fileName << "'.\n";
-    return false;
-  }
-
-  stream.seekg(0, std::ios_base::end);
-  // long length = stream.tellg();
-  stream.seekg(0, std::ios_base::beg);
-
-  // Simple uncompressed true-color image
-  char dumpBuffer[12];
-  char trueColorHeader[] = "\0\0\2\0\0\0\0\0\0\0\0\0";
-  stream.read(dumpBuffer, 12);
-  if (memcmp(dumpBuffer, trueColorHeader, 12) != 0)
-  {
-    std::cerr << "[CImage::loadTGA] Unsupported format or invalid file.\n";
-    return false;
-  }
-
-  unsigned short width, height;
-  uint8_t bpp;
-
-  stream.read((char*)&width, 2);
-  stream.read((char*)&height, 2);
-  bpp = stream.get();
-  if (bpp != 32)
-  {
-    std::cerr << "[CImage::loadTGA] Only 32 bpp format supported!\n";
-    return false;
-  }
-
-  uint8_t desc;
-  desc = stream.get();
-  if (desc != 8 && desc != 32)
-  {
-    std::cerr << "[CImage::loadTGA] Unsupported format or invalid file.\n";
-    return false;
-  }
-  const bool origin_is_low_corner = (desc == 8);
-
-  // Data section
-  std::vector<uint8_t> bytes(width * height * 4);
-  stream.read((char*)&bytes[0], width * height * 4);
-  stream.close();
-
-  // Move data to images:
-  out_RGB.resize(width, height, CH_RGB);
-  out_alpha.resize(width, height, CH_GRAY);
-
-  size_t idx = 0;
-  for (int r = 0; r < height; r++)
-  {
-    const auto actual_row = origin_is_low_corner ? (height - 1 - r) : r;
-    auto& img = out_RGB.m_state->img;
-    auto data = img.ptr<uint8_t>(actual_row);
-
-    auto& img_alpha = out_alpha.m_state->img;
-    auto data_alpha = img_alpha.ptr<uint8_t>(actual_row);
-
-    for (unsigned int c = 0; c < width; c++)
-    {
-      *data++ = bytes[idx++];        // R
-      *data++ = bytes[idx++];        // G
-      *data++ = bytes[idx++];        // B
-      *data_alpha++ = bytes[idx++];  // A
-    }
-  }
-
-  return true;
-}
-
-std::ostream& mrpt::img::operator<<(std::ostream& o, const TPixelCoordf& p)
+std::ostream& operator<<(std::ostream& o, const TPixelCoordf& p)
 {
   o << "(" << p.x << "," << p.y << ")";
   return o;
 }
-std::ostream& mrpt::img::operator<<(std::ostream& o, const TPixelCoord& p)
+std::ostream& operator<<(std::ostream& o, const TPixelCoord& p)
 {
   o << "(" << p.x << "," << p.y << ")";
   return o;

modules/mrpt_opengl/src/CAssimpModel.cpp

@@ -89,21 +89,14 @@ class TexturesCache
     if (entry.load_attempted) return entry;
 
     // Load images:
-    // TGA is handled specially since it's not supported by OpenCV:
-    if (mrpt::system::lowerCase(mrpt::system::extractFileExtension(texturePath)) == "tga"s)
-    {
-      entry.img_alpha.emplace();
-
-      entry.load_ok = mrpt::img::CImage::loadTGA(texturePath, entry.img_rgb, *entry.img_alpha);
-    }
-    else
-    {
-      entry.load_ok = entry.img_rgb.loadFromFile(texturePath);
-    }
+    entry.load_ok = entry.img_rgb.loadFromFile(texturePath);
 
     if (entry.load_ok)
     {
-      if (verboseLoad) std::cout << "[CAssimpModel] Loaded texture: " << texturePath << "\n";
+      if (verboseLoad)
+      {
+        std::cout << "[CAssimpModel] Loaded texture: " << texturePath << "\n";
+      }
     }
 #if MRPT_HAS_ASSIMP && MRPT_HAS_OPENCV
     else if (scene->HasTextures())