Revision: 8275
http://playerstage.svn.sourceforge.net/playerstage/?rev=8275&view=rev
Author: natepak
Date: 2009-10-01 23:54:20 +0000 (Thu, 01 Oct 2009)
Log Message:
-----------
Update the camera throttling
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/server/sensors/Sensor.hh
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.hh
code/gazebo/trunk/worlds/pioneer2dx_camera.world
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-09-30 23:33:22 UTC (rev 8274)
+++ code/gazebo/trunk/CMakeLists.txt 2009-10-01 23:54:20 UTC (rev 8275)
@@ -11,7 +11,6 @@
SET (GAZEBO_VERSION 0.9.0)
MESSAGE (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION}")
-SET (ENABLE_SHADOWS OFF CACHE BOOL "If ON, must apply ogre_patch.diff to Ogre
sources")
SET (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
SET (gazeboserver_sources_desc "List of server sources"
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-09-30 23:33:22 UTC (rev
8274)
+++ code/gazebo/trunk/server/Simulator.cc 2009-10-01 23:54:20 UTC (rev
8275)
@@ -47,8 +47,6 @@
#include "Simulator.hh"
-#define MAX_FRAME_RATE 60
-
using namespace gazebo;
////////////////////////////////////////////////////////////////////////////////
@@ -76,6 +74,9 @@
selectedBody(NULL)
{
this->mutex = new boost::recursive_mutex();
+
+ printf("Simulator Init\n");
+ this->startTime = this->GetWallTime();
}
////////////////////////////////////////////////////////////////////////////////
@@ -241,8 +242,6 @@
/// Initialize the simulation
void Simulator::Init()
{
- this->startTime = this->GetWallTime();
-
//Initialize the world
try
{
@@ -330,7 +329,7 @@
{
double currTime = 0;
double lastTime = 0;
- double freq = 30.0;
+ double freq = 80.0;
#ifdef TIMING
double tmpT1 = this->GetWallTime();
@@ -345,7 +344,7 @@
while (!this->userQuit)
{
currTime = this->GetWallTime();
- if ( currTime - lastTime > 1/freq)
+ if ( currTime - lastTime > 1.0/freq)
{
lastTime = this->GetWallTime();
@@ -353,9 +352,7 @@
OgreAdaptor::Instance()->UpdateCameras();
if (this->gui)
- {
this->gui->Update();
- }
World::Instance()->ProcessEntitiesToLoad();
World::Instance()->GraphicsUpdate();
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -74,7 +74,6 @@
this->shadowTextureSizeP = new ParamT<int>("shadowTextureSize", 512,0);
this->shadowTechniqueP = new ParamT<std::string>("shadowTechnique",
"stencilModulative", 0);
this->drawGridP = new ParamT<bool>("grid", true, 0);
- this->updateRateP = new ParamT<double>("maxUpdateRate",0,0);
this->skyMaterialP = new ParamT<std::string>("material","",1);
Param::End();
}
@@ -95,7 +94,6 @@
delete this->shadowIndexSizeP;
delete this->shadowTechniqueP;
delete this->drawGridP;
- delete this->updateRateP;
delete this->skyMaterialP;
}
@@ -210,7 +208,6 @@
this->shadowIndexSizeP->Load(node);
this->shadowTechniqueP->Load(node);
this->drawGridP->Load(node);
- this->updateRateP->Load(node);
//Preload basic shapes that can be used anywhere
OgreCreator::LoadBasicShapes();
@@ -292,7 +289,6 @@
stream << prefix << "<rendering:ogre>\n";
stream << prefix << " " << *(this->ambientP) << "\n";
stream << prefix << " " << *(this->drawGridP) << "\n";
- stream << prefix << " " << *(this->updateRateP) << "\n";
stream << prefix << " <sky>\n";
stream << prefix << " " << *(this->skyMaterialP) << "\n";
stream << prefix << " </sky>\n";
@@ -525,13 +521,6 @@
////////////////////////////////////////////////////////////////////////////////
-/// Get the desired update rate
-double OgreAdaptor::GetUpdateRate()
-{
- return **(this->updateRateP);
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Register a user camera
void OgreAdaptor::RegisterCamera( OgreCamera *cam )
{
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -29,6 +29,7 @@
#include <Ogre.h>
#include <dirent.h>
+#include "PhysicsEngine.hh"
#include "Global.hh"
#include "World.hh"
#include "GazeboError.hh"
@@ -74,6 +75,7 @@
this->visMaskP = new ParamT<std::string>("mask","none",0);
this->hfovP = new ParamT<Angle>("hfov", Angle(DTOR(60)),0);
this->imageFormatP = new ParamT<std::string>("imageFormat", "R8G8B8", 0);
+ this->updateRateP = new ParamT<double>("updateRate",30,0);
Param::End();
this->captureData = false;
@@ -82,6 +84,9 @@
CameraManager::Instance()->AddCamera(this);
this->camera = NULL;
+
+ this->renderPeriod = 1.0/(**this->updateRateP);
+ this->renderingEnabled = true;
}
@@ -106,7 +111,6 @@
// Load the camera
void OgreCamera::LoadCam( XMLConfigNode *node )
{
-
if (!Simulator::Instance()->GetRenderEngineEnabled())
gzthrow("Cameras can not be used when running Gazebo without rendering
engine");
@@ -160,6 +164,7 @@
gzthrow("near clipping plane (min depth) <= zero");
}
+ this->lastUpdate = Simulator::Instance()->GetSimTime();
}
//////////////////////////////////////////////////////////////////////////////
@@ -236,48 +241,72 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set to true to enable rendering
+void OgreCamera::SetRenderingEnabled(bool value)
+{
+ this->renderingEnabled = value;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get whether the rendering is enabled
+bool OgreCamera::GetRenderingEnabled() const
+{
+ return this->renderingEnabled;
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Render the camera
void OgreCamera::Render()
{
- this->renderTarget->update();
+ if (!this->renderingEnabled)
+ return;
- if (this->captureData)
+ double physics_dt = World::Instance()->GetPhysicsEngine()->GetStepTime();
+ if
(round((Simulator::Instance()->GetSimTime()-this->lastUpdate-this->renderPeriod)/physics_dt)
>= 0)
{
- boost::recursive_mutex::scoped_lock
mr_lock(*Simulator::Instance()->GetMRMutex());
- Ogre::HardwarePixelBufferSharedPtr pixelBuffer;
- Ogre::RenderTexture *rTexture;
- Ogre::Viewport* renderViewport;
+ this->renderTarget->update();
- size_t size;
+ if (this->captureData)
+ {
+ boost::recursive_mutex::scoped_lock
mr_lock(*Simulator::Instance()->GetMRMutex());
- // Get access to the buffer and make an image and write it to file
- pixelBuffer = this->renderTexture->getBuffer();
- rTexture = pixelBuffer->getRenderTarget();
+ Ogre::HardwarePixelBufferSharedPtr pixelBuffer;
+ Ogre::RenderTexture *rTexture;
+ Ogre::Viewport* renderViewport;
- Ogre::PixelFormat format = pixelBuffer->getFormat();
- renderViewport = rTexture->getViewport(0);
+ size_t size;
- size = Ogre::PixelUtil::getMemorySize((**this->imageSizeP).x,
- (**this->imageSizeP).y,
- 1,
- format);
+ // Get access to the buffer and make an image and write it to file
+ pixelBuffer = this->renderTexture->getBuffer();
+ rTexture = pixelBuffer->getRenderTarget();
- // Allocate buffer
- if (!this->saveFrameBuffer)
- this->saveFrameBuffer = new unsigned char[size];
+ Ogre::PixelFormat format = pixelBuffer->getFormat();
+ renderViewport = rTexture->getViewport(0);
- memset(this->saveFrameBuffer,128,size);
+ size = Ogre::PixelUtil::getMemorySize((**this->imageSizeP).x,
+ (**this->imageSizeP).y,
+ 1,
+ format);
- Ogre::PixelBox box((**this->imageSizeP).x, (**this->imageSizeP).y,
- 1, this->imageFormat, this->saveFrameBuffer);
+ // Allocate buffer
+ if (!this->saveFrameBuffer)
+ this->saveFrameBuffer = new unsigned char[size];
- pixelBuffer->blitToMemory( box );
+ memset(this->saveFrameBuffer,128,size);
- if (this->saveFramesP->GetValue())
- {
- this->SaveFrame();
+ Ogre::PixelBox box((**this->imageSizeP).x, (**this->imageSizeP).y,
+ 1, this->imageFormat, this->saveFrameBuffer);
+
+ pixelBuffer->blitToMemory( box );
+
+ if (this->saveFramesP->GetValue())
+ {
+ this->SaveFrame();
+ }
}
+
+ this->lastUpdate = Simulator::Instance()->GetSimTime();
}
}
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -86,6 +86,12 @@
/// Finalize the camera
public: void FiniCam();
+
+ /// \brief Set to true to enable rendering
+ public: void SetRenderingEnabled(bool value);
+
+ /// \brief Get whether the rendering is enabled
+ public: bool GetRenderingEnabled() const;
/// \brief Get the global pose of the camera
public: Pose3d GetWorldPose() const;
@@ -209,7 +215,7 @@
private: std::string name;
protected: ParamT<Angle> *hfovP;
- protected: ParamT<double> *nearClipP, *farClipP;
+ protected: ParamT<double> *nearClipP, *farClipP, *updateRateP;
protected: ParamT< Vector2<int> > *imageSizeP;
protected: unsigned int textureWidth, textureHeight;
@@ -246,6 +252,11 @@
private: bool userMovable;
protected: std::vector<Param*> camParameters;
+
+ protected: bool renderingEnabled;
+
+ protected: double renderPeriod;
+ protected: double lastUpdate;
};
/// \}
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -654,15 +654,10 @@
<< ":" << (unsigned long)winId
<< ":" << (unsigned long)vi;
*/
-
ogreHandle << winId;
-#ifdef ENABLE_SHADOWS
params["parentWindowHandle"] = ogreHandle.str();
-#else
- params["externalWindowHandle"] = ogreHandle.str();
-#endif
//params["vsync"] = "true";
params["FSAA"] = "2";
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -27,6 +27,7 @@
#include <Ogre.h>
#include <sstream>
+#include "Simulator.hh"
#include "Global.hh"
#include "GLWindow.hh"
#include "OgreCamera.hh"
@@ -68,6 +69,7 @@
this->SetClipDist(0.1, 50);
this->SetFOV( DTOR(60) );
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -86,12 +88,21 @@
this->viewport->setVisibilityMask(this->visibilityMask);
this->renderTarget = this->window;
+
+ printf("User Camera Init\n");
+ this->lastUpdate = Simulator::Instance()->GetRealTime();
}
////////////////////////////////////////////////////////////////////////////////
/// Update
void UserCamera::Update()
{
+ if (Simulator::Instance()->GetRealTime() - this->lastUpdate <
+ this->renderPeriod)
+ return;
+
+ this->lastUpdate = Simulator::Instance()->GetRealTime();
+
OgreCamera::UpdateCam();
this->window->update();
@@ -112,6 +123,7 @@
this->saveCount++;
}
+
}
Modified: code/gazebo/trunk/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.hh 2009-09-30 23:33:22 UTC (rev
8274)
+++ code/gazebo/trunk/server/sensors/Sensor.hh 2009-10-01 23:54:20 UTC (rev
8275)
@@ -79,7 +79,7 @@
public: void GetInterfaceNames(std::vector<std::string>& list) const;
/// \brief Set whether the sensor is active or not
- public: void SetActive(bool value);
+ public: virtual void SetActive(bool value);
public: bool IsActive();
/// \brief Load the child sensor
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-09-30
23:33:22 UTC (rev 8274)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-10-01
23:54:20 UTC (rev 8275)
@@ -140,6 +140,14 @@
}
//////////////////////////////////////////////////////////////////////////////
+/// Set whether the sensor is active or not
+void MonoCameraSensor::SetActive(bool value)
+{
+ Sensor::SetActive(value);
+ this->SetRenderingEnabled(value);
+}
+
+//////////////////////////////////////////////////////////////////////////////
// Update the drawing
void MonoCameraSensor::UpdateChild()
{
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.hh 2009-09-30
23:33:22 UTC (rev 8274)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.hh 2009-10-01
23:54:20 UTC (rev 8275)
@@ -69,6 +69,9 @@
/// Finalize the camera
protected: virtual void FiniChild();
+ /// \brief Set whether the sensor is active or not
+ public: virtual void SetActive(bool value);
+
/// \brief Return the material the camera renders to
public: virtual std::string GetMaterialName() const;
Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-09-30 23:33:22 UTC
(rev 8274)
+++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-10-01 23:54:20 UTC
(rev 8275)
@@ -23,7 +23,7 @@
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
- <updateRate>2</updateRate>
+ <updateRate>0</updateRate>
</physics:ode>
<rendering:gui>
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-09-30 23:33:22 UTC (rev
8274)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-10-01 23:54:20 UTC (rev
8275)
@@ -23,7 +23,7 @@
<!-- updateRate: <0 == throttle simTime to match realTime.
0 == No throttling
>0 == Frequency at which to throttle the sim -->
- <updateRate>-1</updateRate>
+ <updateRate>0</updateRate>
</physics:ode>
<rendering:gui>
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