/**
* keylift is registered as a GLUT callback for when a user
* releases a depressed key.
*
* @param key The key that was lifted.
* @param x The x coordinate of the mouse at the time the key was released.
* @param y The y coordinate of the mouse at the time the key was released.
*/
void keylift( unsigned char key, int x, int y ) {
Cameras *camList = Engine::instance()->cams();
if ( camList->numCameras() < 1 ) return;
Camera &cam = *(camList->active());
switch ( key ) {
case 'w':
cam.stop( Camera::DIR_FORWARD );
break;
case 's':
cam.stop( Camera::DIR_BACKWARD );
break;
case 'a':
cam.stop( Camera::DIR_LEFT );
break;
case 'd':
cam.stop( Camera::DIR_RIGHT );
break;
case 'q':
cam.stop( Camera::DIR_UP );
break;
case 'e':
cam.stop( Camera::DIR_DOWN );
break;
}
}
void CompositeViewer::getOperationThreads(OperationThreads& threads, bool onlyActive)
{
threads.clear();
Contexts contexts;
getContexts(contexts);
for(Contexts::iterator gcitr = contexts.begin();
gcitr != contexts.end();
++gcitr)
{
osg::GraphicsContext* gc = *gcitr;
if (gc->getGraphicsThread() &&
(!onlyActive || gc->getGraphicsThread()->isRunning()) )
{
threads.push_back(gc->getGraphicsThread());
}
}
Cameras cameras;
getCameras(cameras);
for(Cameras::iterator citr = cameras.begin();
citr != cameras.end();
++citr)
{
osg::Camera* camera = *citr;
if (camera->getCameraThread() &&
(!onlyActive || camera->getCameraThread()->isRunning()) )
{
threads.push_back(camera->getCameraThread());
}
}
}
int main(int argc, char **argv) {
init();
// For catching a CTRL-C
signal(SIGINT,exit_handler);
// Initialize
int retVal = stereo.init();
if (retVal !=0 )
exit_handler(0);
// Start the acquisition flow
retVal = stereo.start();
if (retVal !=0 )
exit_handler(0);
// Main loop
while(true) {
// Capture stereo images
retVal = stereo.saveTwoImages();
if (retVal !=0 )
exit_handler(0);
// Wait 1s between each images
usleep(300000);
// Handle pause/unpause and ESC
int c = cvWaitKey(1);
if(c == 'p') {
DEBUG<<"Acquisition is now paused"<<endl;
c = 0;
while(c != 'p' && c != 27){
c = cvWaitKey(250);
}
DEBUG<<"Acquisition is now unpaused"<<endl;
}
if(c == 27) {
DEBUG<<"Acquisition has been stopped by user"<<endl;
break;
}
}
// Stop the acquisition flow
stereo.stop();
// Close cameras
stereo.close();
return 0;
}
CameraPtr cameraFindOrInsert(std::string key, std::function <CameraPtr()> createFunc)
{
camsMutex.lock();
CameraPtr cam;
auto camIt = cams.find(key);
if (camIt != cams.end()) {
cam = camIt->second;
} else {
cam = createFunc();
cams.insert({key, cam});
}
camsMutex.unlock();
return cam;
}
TEST(CamerasTest, rotated) {
Cameras cameras;
size_t id = cameras.addCameraFovX(
"dummy",
vec3(0.0f, 0.0f, 0.0f),
vec3(1.0f, 0.0f, 0.0f),
vec3(0.0f, 1.0f, 0.0f),
half_pi<float>());
ASSERT_EQ(1, cameras.numCameras());
auto r0 = cameras.shoot(id, vec2(0.0f, 0.0f), 0.01f, 0.01f, 1, 0.0f, 0.0f);
EXPECT_VEC3_EQ(vec3(0.577f, -0.577f, -0.577f), r0.direction, 0.001f);
}
ViewerBase::ThreadingModel ViewerBase::suggestBestThreadingModel()
{
const char* str = getenv("OSG_THREADING");
if (str)
{
if (strcmp(str,"SingleThreaded")==0) return SingleThreaded;
else if (strcmp(str,"CullDrawThreadPerContext")==0) return CullDrawThreadPerContext;
else if (strcmp(str,"DrawThreadPerContext")==0) return DrawThreadPerContext;
else if (strcmp(str,"CullThreadPerCameraDrawThreadPerContext")==0) return CullThreadPerCameraDrawThreadPerContext;
}
Contexts contexts;
getContexts(contexts);
if (contexts.empty()) return SingleThreaded;
#if 0
// temporary hack to disable multi-threading under Windows till we find good solutions for
// crashes that users are seeing.
return SingleThreaded;
#endif
Cameras cameras;
getCameras(cameras);
if (cameras.empty()) return SingleThreaded;
int numProcessors = OpenThreads::GetNumberOfProcessors();
if (contexts.size()==1)
{
if (numProcessors==1) return SingleThreaded;
else return DrawThreadPerContext;
}
#if 1
if (numProcessors >= static_cast<int>(cameras.size()+contexts.size()))
{
return CullThreadPerCameraDrawThreadPerContext;
}
#endif
return DrawThreadPerContext;
}
void Filterwheel_internals::assign(const std::string& filterwheelid,
const std::vector<std::string>& arguments) {
debug(LOG_DEBUG, DEBUG_LOG, 0, "assigning filterwheel of name %s",
filterwheelid.c_str());
// make sure we have enough arguments
if (arguments.size() < 3) {
throw devicemap_error("filterwheel assign needs 3 arguments");
}
// first locate the camera specified by the arguments
std::string cameraid = arguments[2];
debug(LOG_DEBUG, DEBUG_LOG, 0, "get filterwheel from camera %s",
cameraid.c_str());
// first try to get the camera with that id
Cameras cameras;
CameraWrapper camera = cameras.byname(cameraid);
// then check whether it has enough ccds
if (!camera->hasFilterWheel()) {
debug(LOG_ERR, DEBUG_LOG, 0, "camera %s has no filter wheel",
camera->getName());
throw devicemap_error("camera has no filterwheel");
}
// get the ccd from the camera
Astro::FilterWheel_ptr filterwheel;
try {
filterwheel = camera->getFilterWheel();
} catch (const CORBA::Exception& x) {
std::string s = Astro::exception2string(x);
debug(LOG_ERR, DEBUG_LOG, 0, "getFilterWheel exception: %s",
s.c_str());
throw std::runtime_error(s);
}
if (CORBA::is_nil(filterwheel)) {
throw devicemap_error("could not get filterwheel");
}
// store it in the device map
DeviceMap<Astro::FilterWheel>::assign(filterwheelid, filterwheel);
}
/**
* keyboard_ctrl is registered as a GLUT callback.
* It is responsible for catching when special keys are pressed.
*
* @param key The key pressed.
* @param x The x coordinate of the mouse when the key was pressed.
* @param y The y coordinate of the mouse when the key was pressed.
*/
void keyboard_ctrl( int key, int x, int y ) {
Scene *theScene = Engine::instance()->rootScene();
Cameras *camList = Engine::instance()->cams();
switch ( key ) {
//Cycle between active Objects ...
case GLUT_KEY_LEFT:
theScene->prev();
break;
case GLUT_KEY_RIGHT:
theScene->next();
break;
//Change the Draw Mode ...
case GLUT_KEY_F1:
theScene->active()->Mode( GL_POINTS );
break;
case GLUT_KEY_F2:
theScene->active()->Mode( GL_LINE_STRIP );
break;
case GLUT_KEY_F3:
theScene->active()->Mode( GL_TRIANGLE_STRIP );
break;
case GLUT_KEY_F4:
theScene->active()->Mode( GL_TRIANGLES );
break;
}
// If there are no Cameras, don't muck around with this section.
if ( camList->numCameras() < 1 ) return;
switch ( key ) {
case GLUT_KEY_PAGE_UP:
camList->prev();
break;
case GLUT_KEY_PAGE_DOWN:
camList->next();
break;
}
}
int main(int argc, char **argv) {
init();
// For catching a CTRL-C
signal(SIGINT,exit_handler);
// Initialize
int retVal = stereo.init("../examples/stereo_calib_dataset_3/");
if (retVal !=0 )
exit_handler(0);
// Main loop
retVal = stereo.calib();
if (retVal !=0 )
exit_handler(0);
// Close camera
stereo.close();
return 0;
}
void GraphSceneUI::updateInitValues() {
if (initValuesUpdated)
return;
drawingModeRadioGroupSelectedItemID =
((GraphScene*) scene)->getGlobals()->getDrawing()->getMode() - GL_POINT;
shadingModeRadioGroupSelectedItemID =
((GraphScene*) scene)->getGlobals()->getDrawing()->getShading() - GL_FLAT;
int i = 0;
Cameras* cams = ((GraphScene*) scene)->getCameras();
for (map<string, Camera*>::iterator it = cams->getCameras()->begin();
it != cams->getCameras()->end(); it++, i++) {
if ((*it).first.compare(cams->getActiveCameraID()) == 0) {
activeCameraRadioGroupSelectedItemID = i;
break;
}
}
initValuesUpdated = true;
}
void load_cameras(const aiScene* scene, Materials& materials,
Cameras& cameras) {
for (size_t i = 0; i < scene->mNumCameras; ++i) {
auto camera = scene->mCameras[i];
cameras.addCameraFovX(toString(camera->mName), toVec3(camera->mPosition),
normalize(toVec3(camera->mLookAt)),
normalize(toVec3(camera->mUp)),
camera->mHorizontalFOV * 2.0f, camera->mClipPlaneNear,
camera->mClipPlaneFar);
materials.names.push_back("camera");
materials.bsdfs.push_back(unique<BSDF>(new CameraBSDF()));
}
}
namespace cam {
CvCamera::CvCamera(int devNo) : cam(new cv::VideoCapture(devNo)) {};
void CvCamera::read(cv::Mat &frame) { cam->read(frame); };
void CvCamera::readWithDepth(cv::Mat &frame, cv::Mat &depth) { return read(frame); };
bool CvCamera::isOpen() { return cam->isOpened(); };
// -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
std::mutex camsMutex;
Cameras cams;
CameraPtr cameraFindOrInsert(std::string key, std::function <CameraPtr()> createFunc)
{
camsMutex.lock();
CameraPtr cam;
auto camIt = cams.find(key);
if (camIt != cams.end()) {
cam = camIt->second;
} else {
cam = createFunc();
cams.insert({key, cam});
}
camsMutex.unlock();
return cam;
}
CameraPtr getCamera(int devNo)
{
return cameraFindOrInsert(
std::to_string(devNo),
[&]() -> CameraPtr { return std::make_shared<CvCamera>(CvCamera(devNo)); });
}
CameraPtr getCamera(std::string key)
{
std::cout << "kinect action? " << key << std::endl;
if (key == "kinect") {
return cameraFindOrInsert(
key,
[&]() -> CameraPtr {
return std::make_shared<kinect::sensor::KinectCamera>(); });
}
throw std::invalid_argument(key);
}
}
void CompositeViewer::getCameras(Cameras& cameras, bool onlyActive)
{
cameras.clear();
for(RefViews::iterator vitr = _views.begin();
vitr != _views.end();
++vitr)
{
View* view = vitr->get();
if (view->getCamera() &&
(!onlyActive || (view->getCamera()->getGraphicsContext() && view->getCamera()->getGraphicsContext()->valid())) ) cameras.push_back(view->getCamera());
for(View::Slaves::iterator itr = view->_slaves.begin();
itr != view->_slaves.end();
++itr)
{
if (itr->_camera.valid() &&
(!onlyActive || (itr->_camera->getGraphicsContext() && itr->_camera->getGraphicsContext()->valid())) ) cameras.push_back(itr->_camera.get());
}
}
}
TEST(CamerasTest, basic_tests) {
Cameras cameras;
size_t id = cameras.addCameraFovX(
"dummy",
vec3(0.0f, 0.0f, 0.0f),
vec3(0.0f, 0.0f, -1.0f),
vec3(0.0f, 1.0f, 0.0f),
half_pi<float>());
ASSERT_EQ(1, cameras.numCameras());
EXPECT_EQ("dummy", cameras.name(id));
EXPECT_FLOAT_EQ(half_pi<float>(), cameras.fovx(id, 1.0f));
EXPECT_FLOAT_EQ(half_pi<float>(), cameras.fovx(id, 4.0f / 3.0f));
EXPECT_FLOAT_EQ(half_pi<float>(), cameras.fovy(id, 1.0f));
EXPECT_FLOAT_EQ(1.2870022f, cameras.fovy(id, 4.0f / 3.0f));
const float w = 800;
const float h = 600;
const float wInv = 1.0f / w;
const float hInv = 1.0f / h;
const float a = w / h;
auto r0 = cameras.shoot(id, vec2(0.0f, 0.0f), wInv, hInv, a, 400.0f, 300.0f);
auto r1 = cameras.shoot(id, vec2(0.0f, 0.0f), wInv, hInv, a, 0.0f, 0.0f);
auto r2 = cameras.shoot(id, vec2(0.0f, 0.0f), wInv, hInv, a, 800.0f, 600.0f);
auto r3 = cameras.shoot(id, vec2(0.0f, 0.0f), 0.01f, 0.01f, 1, 0.0f, 0.0f);
EXPECT_VEC3_EQ(vec3(0.0f, 0.0f, 0.0f), r0.origin, 0.00001f);
EXPECT_VEC3_EQ(vec3(0.0f, 0.0f, -1.0f), r0.direction, 0.00001f);
EXPECT_VEC3_EQ(vec3(0.0f), r1.origin, 0.000001f);
EXPECT_VEC3_EQ(vec3(-0.685994f, -0.514496f, -0.514496f), r1.direction, 0.000001f);
EXPECT_VEC3_EQ(vec3(0.0f), r2.origin, 0.000001f);
EXPECT_VEC3_EQ(vec3(0.685994f, 0.514496f, -0.514496f), r2.direction, 0.0001f);
EXPECT_VEC3_EQ(vec3(0.0f), r3.origin, 0.00001f);
EXPECT_VEC3_EQ(vec3(-0.577f, -0.577f, -0.577f), r3.direction, 0.001f);
}
/**
* keyboard is a callback registered with GLUT.
* It handles (surprise!) keyboard input.
*
* @param key The key pressed by the user.
* @param x The x coordinate of the mouse when the key was pressed.
* @param y The y coordinate of the mouse when the key was pressed.
*/
void keyboard( unsigned char key, int x, int y ) {
Scene *theScene = Engine::instance()->rootScene();
Cameras *camList = Engine::instance()->cams();
#ifdef WII
// Hacky, for the wii reset, below.
Camera *camptr = dynamic_cast< Camera* >( (*_camList)["AutoCamera2"] );
#endif
switch ( key ) {
case 033: // Escape Key
/*
cleanup();
Disabled for now; not crucial.
Intend to fix later when I profile a bit more with valgrind.
*/
glutLeaveMainLoop();
break;
case ';': // Print Info
fprintf( stderr, "Active Object: %s\n",
theScene->active()->Name().c_str() );
break;
case '~':
#ifdef WII
CalibrateGyro( Wii );
if (camptr) camptr->resetRotation();
#endif
break;
case '+':
std::stringstream camName;
camName << "AutoCamera" << camList->numCameras() + 1;
camList->addCamera( camName.str() );
break;
}
if ( camList->numCameras() < 1 ) return;
/* A shorthand variable with local scope that refers to "The active Camera." */
Camera &cam = *(camList->active());
switch ( key ) {
case '-':
camList->popCamera();
break;
case ';':
fprintf( stderr, "Camera Position: (%f,%f,%f)\n", cam.x(), cam.y(),
cam.z() );
break;
case 'w':
cam.move( Camera::DIR_FORWARD );
break;
case 's':
cam.move( Camera::DIR_BACKWARD );
break;
case 'a':
cam.move( Camera::DIR_LEFT );
break;
case 'd':
cam.move( Camera::DIR_RIGHT );
break;
case 'q':
cam.move( Camera::DIR_UP );
break;
case 'e':
cam.move( Camera::DIR_DOWN );
break;
//Perspectives
case 'z':
cam.changePerspective( Camera::PERSPECTIVE );
break;
case 'x':
cam.changePerspective( Camera::ORTHO );
break;
case 'c':
cam.changePerspective( Camera::ORTHO2D );
break;
case 'v':
cam.changePerspective( Camera::FRUSTUM );
break;
case 'b':
cam.changePerspective( Camera::IDENTITY );
break;
}
}
void ViewerBase::renderingTraversals()
{
bool _outputMasterCameraLocation = false;
if (_outputMasterCameraLocation)
{
Views views;
getViews(views);
for(Views::iterator itr = views.begin();
itr != views.end();
++itr)
{
osgViewer::View* view = *itr;
if (view)
{
const osg::Matrixd& m = view->getCamera()->getInverseViewMatrix();
OSG_NOTICE<<"View "<<view<<", Master Camera position("<<m.getTrans()<<"), rotation("<<m.getRotate()<<")"<<std::endl;
}
}
}
Contexts contexts;
getContexts(contexts);
// check to see if windows are still valid
checkWindowStatus(contexts);
if (_done) return;
double beginRenderingTraversals = elapsedTime();
osg::FrameStamp* frameStamp = getViewerFrameStamp();
if (getViewerStats() && getViewerStats()->collectStats("scene"))
{
unsigned int frameNumber = frameStamp ? frameStamp->getFrameNumber() : 0;
Views views;
getViews(views);
for(Views::iterator vitr = views.begin();
vitr != views.end();
++vitr)
{
View* view = *vitr;
osg::Stats* stats = view->getStats();
osg::Node* sceneRoot = view->getSceneData();
if (sceneRoot && stats)
{
osgUtil::StatsVisitor statsVisitor;
sceneRoot->accept(statsVisitor);
statsVisitor.totalUpStats();
unsigned int unique_primitives = 0;
osgUtil::Statistics::PrimitiveCountMap::iterator pcmitr;
for(pcmitr = statsVisitor._uniqueStats.GetPrimitivesBegin();
pcmitr != statsVisitor._uniqueStats.GetPrimitivesEnd();
++pcmitr)
{
unique_primitives += pcmitr->second;
}
stats->setAttribute(frameNumber, "Number of unique StateSet", static_cast<double>(statsVisitor._statesetSet.size()));
stats->setAttribute(frameNumber, "Number of unique Group", static_cast<double>(statsVisitor._groupSet.size()));
stats->setAttribute(frameNumber, "Number of unique Transform", static_cast<double>(statsVisitor._transformSet.size()));
stats->setAttribute(frameNumber, "Number of unique LOD", static_cast<double>(statsVisitor._lodSet.size()));
stats->setAttribute(frameNumber, "Number of unique Switch", static_cast<double>(statsVisitor._switchSet.size()));
stats->setAttribute(frameNumber, "Number of unique Geode", static_cast<double>(statsVisitor._geodeSet.size()));
stats->setAttribute(frameNumber, "Number of unique Drawable", static_cast<double>(statsVisitor._drawableSet.size()));
stats->setAttribute(frameNumber, "Number of unique Geometry", static_cast<double>(statsVisitor._geometrySet.size()));
stats->setAttribute(frameNumber, "Number of unique Vertices", static_cast<double>(statsVisitor._uniqueStats._vertexCount));
stats->setAttribute(frameNumber, "Number of unique Primitives", static_cast<double>(unique_primitives));
unsigned int instanced_primitives = 0;
for(pcmitr = statsVisitor._instancedStats.GetPrimitivesBegin();
pcmitr != statsVisitor._instancedStats.GetPrimitivesEnd();
++pcmitr)
{
instanced_primitives += pcmitr->second;
}
stats->setAttribute(frameNumber, "Number of instanced Stateset", static_cast<double>(statsVisitor._numInstancedStateSet));
stats->setAttribute(frameNumber, "Number of instanced Group", static_cast<double>(statsVisitor._numInstancedGroup));
stats->setAttribute(frameNumber, "Number of instanced Transform", static_cast<double>(statsVisitor._numInstancedTransform));
stats->setAttribute(frameNumber, "Number of instanced LOD", static_cast<double>(statsVisitor._numInstancedLOD));
stats->setAttribute(frameNumber, "Number of instanced Switch", static_cast<double>(statsVisitor._numInstancedSwitch));
stats->setAttribute(frameNumber, "Number of instanced Geode", static_cast<double>(statsVisitor._numInstancedGeode));
stats->setAttribute(frameNumber, "Number of instanced Drawable", static_cast<double>(statsVisitor._numInstancedDrawable));
stats->setAttribute(frameNumber, "Number of instanced Geometry", static_cast<double>(statsVisitor._numInstancedGeometry));
stats->setAttribute(frameNumber, "Number of instanced Vertices", static_cast<double>(statsVisitor._instancedStats._vertexCount));
stats->setAttribute(frameNumber, "Number of instanced Primitives", static_cast<double>(instanced_primitives));
}
}
}
Scenes scenes;
getScenes(scenes);
for(Scenes::iterator sitr = scenes.begin();
sitr != scenes.end();
++sitr)
{
Scene* scene = *sitr;
osgDB::DatabasePager* dp = scene ? scene->getDatabasePager() : 0;
if (dp) dp->signalBeginFrame(frameStamp);
osgDB::ImagePager* ip = scene ? scene->getImagePager() : 0;
if (ip) ip->signalBeginFrame(frameStamp);
if (scene->getSceneData())
{
// fire off a build of the bounding volumes while we
// are still running single threaded.
scene->getSceneData()->getBound();
}
}
// OSG_NOTICE<<std::endl<<"Start frame"<<std::endl;
Cameras cameras;
getCameras(cameras);
Contexts::iterator itr;
bool doneMakeCurrentInThisThread = false;
if (_endDynamicDrawBlock.valid())
{
_endDynamicDrawBlock->reset();
}
// dispatch the rendering threads
if (_startRenderingBarrier.valid()) _startRenderingBarrier->block();
// reset any double buffer graphics objects
for(Cameras::iterator camItr = cameras.begin();
camItr != cameras.end();
++camItr)
{
osg::Camera* camera = *camItr;
Renderer* renderer = dynamic_cast<Renderer*>(camera->getRenderer());
if (renderer)
{
if (!renderer->getGraphicsThreadDoesCull() && !(camera->getCameraThread()))
{
renderer->cull();
}
}
}
for(itr = contexts.begin();
itr != contexts.end() && !_done;
++itr)
{
if (!((*itr)->getGraphicsThread()) && (*itr)->valid())
{
doneMakeCurrentInThisThread = true;
makeCurrent(*itr);
(*itr)->runOperations();
}
}
// OSG_NOTICE<<"Joing _endRenderingDispatchBarrier block "<<_endRenderingDispatchBarrier.get()<<std::endl;
// wait till the rendering dispatch is done.
if (_endRenderingDispatchBarrier.valid()) _endRenderingDispatchBarrier->block();
for(itr = contexts.begin();
itr != contexts.end() && !_done;
++itr)
{
if (!((*itr)->getGraphicsThread()) && (*itr)->valid())
{
doneMakeCurrentInThisThread = true;
makeCurrent(*itr);
(*itr)->swapBuffers();
}
}
for(Scenes::iterator sitr = scenes.begin();
sitr != scenes.end();
++sitr)
{
Scene* scene = *sitr;
osgDB::DatabasePager* dp = scene ? scene->getDatabasePager() : 0;
if (dp) dp->signalEndFrame();
osgDB::ImagePager* ip = scene ? scene->getImagePager() : 0;
if (ip) ip->signalEndFrame();
}
// wait till the dynamic draw is complete.
if (_endDynamicDrawBlock.valid())
{
// osg::Timer_t startTick = osg::Timer::instance()->tick();
_endDynamicDrawBlock->block();
// OSG_NOTICE<<"Time waiting "<<osg::Timer::instance()->delta_m(startTick, osg::Timer::instance()->tick())<<std::endl;;
}
if (_releaseContextAtEndOfFrameHint && doneMakeCurrentInThisThread)
{
//OSG_NOTICE<<"Doing release context"<<std::endl;
releaseContext();
}
if (getViewerStats() && getViewerStats()->collectStats("update"))
{
double endRenderingTraversals = elapsedTime();
// update current frames stats
getViewerStats()->setAttribute(frameStamp->getFrameNumber(), "Rendering traversals begin time ", beginRenderingTraversals);
getViewerStats()->setAttribute(frameStamp->getFrameNumber(), "Rendering traversals end time ", endRenderingTraversals);
getViewerStats()->setAttribute(frameStamp->getFrameNumber(), "Rendering traversals time taken", endRenderingTraversals-beginRenderingTraversals);
}
_requestRedraw = false;
}
void ViewerBase::startThreading()
{
if (_threadsRunning) return;
OSG_INFO<<"Viewer::startThreading() - starting threading"<<std::endl;
// release any context held by the main thread.
releaseContext();
_threadingModel = _threadingModel==AutomaticSelection ? suggestBestThreadingModel() : _threadingModel;
Contexts contexts;
getContexts(contexts);
OSG_INFO<<"Viewer::startThreading() - contexts.size()="<<contexts.size()<<std::endl;
Cameras cameras;
getCameras(cameras);
unsigned int numThreadsOnStartBarrier = 0;
unsigned int numThreadsOnEndBarrier = 0;
switch(_threadingModel)
{
case(SingleThreaded):
numThreadsOnStartBarrier = 1;
numThreadsOnEndBarrier = 1;
return;
case(CullDrawThreadPerContext):
numThreadsOnStartBarrier = contexts.size()+1;
numThreadsOnEndBarrier = contexts.size()+1;
break;
case(DrawThreadPerContext):
numThreadsOnStartBarrier = 1;
numThreadsOnEndBarrier = 1;
break;
case(CullThreadPerCameraDrawThreadPerContext):
numThreadsOnStartBarrier = cameras.size()+1;
numThreadsOnEndBarrier = 1;
break;
default:
OSG_NOTICE<<"Error: Threading model not selected"<<std::endl;
return;
}
// using multi-threading so make sure that new objects are allocated with thread safe ref/unref
osg::Referenced::setThreadSafeReferenceCounting(true);
Scenes scenes;
getScenes(scenes);
for(Scenes::iterator scitr = scenes.begin();
scitr != scenes.end();
++scitr)
{
if ((*scitr)->getSceneData())
{
OSG_INFO<<"Making scene thread safe"<<std::endl;
// make sure that existing scene graph objects are allocated with thread safe ref/unref
(*scitr)->getSceneData()->setThreadSafeRefUnref(true);
// update the scene graph so that it has enough GL object buffer memory for the graphics contexts that will be using it.
(*scitr)->getSceneData()->resizeGLObjectBuffers(osg::DisplaySettings::instance()->getMaxNumberOfGraphicsContexts());
}
}
int numProcessors = OpenThreads::GetNumberOfProcessors();
bool affinity = numProcessors>1;
Contexts::iterator citr;
unsigned int numViewerDoubleBufferedRenderingOperation = 0;
bool graphicsThreadsDoesCull = _threadingModel == CullDrawThreadPerContext || _threadingModel==SingleThreaded;
for(Cameras::iterator camItr = cameras.begin();
camItr != cameras.end();
++camItr)
{
osg::Camera* camera = *camItr;
Renderer* renderer = dynamic_cast<Renderer*>(camera->getRenderer());
if (renderer)
{
renderer->setGraphicsThreadDoesCull(graphicsThreadsDoesCull);
renderer->setDone(false);
renderer->reset();
++numViewerDoubleBufferedRenderingOperation;
}
}
if (_threadingModel==CullDrawThreadPerContext)
{
_startRenderingBarrier = 0;
_endRenderingDispatchBarrier = 0;
_endDynamicDrawBlock = 0;
}
else if (_threadingModel==DrawThreadPerContext ||
_threadingModel==CullThreadPerCameraDrawThreadPerContext)
{
_startRenderingBarrier = 0;
_endRenderingDispatchBarrier = 0;
_endDynamicDrawBlock = new osg::EndOfDynamicDrawBlock(numViewerDoubleBufferedRenderingOperation);
#ifndef OSGUTIL_RENDERBACKEND_USE_REF_PTR
if (!osg::Referenced::getDeleteHandler()) osg::Referenced::setDeleteHandler(new osg::DeleteHandler(2));
else osg::Referenced::getDeleteHandler()->setNumFramesToRetainObjects(2);
#endif
}
if (numThreadsOnStartBarrier>1)
{
_startRenderingBarrier = new osg::BarrierOperation(numThreadsOnStartBarrier, osg::BarrierOperation::NO_OPERATION);
}
if (numThreadsOnEndBarrier>1)
{
_endRenderingDispatchBarrier = new osg::BarrierOperation(numThreadsOnEndBarrier, _endBarrierOperation);
}
osg::ref_ptr<osg::BarrierOperation> swapReadyBarrier = contexts.empty() ? 0 : new osg::BarrierOperation(contexts.size(), osg::BarrierOperation::NO_OPERATION);
osg::ref_ptr<osg::SwapBuffersOperation> swapOp = new osg::SwapBuffersOperation();
typedef std::map<OpenThreads::Thread*, int> ThreadAffinityMap;
ThreadAffinityMap threadAffinityMap;
unsigned int processNum = 1;
for(citr = contexts.begin();
citr != contexts.end();
++citr, ++processNum)
{
osg::GraphicsContext* gc = (*citr);
if (!gc->isRealized())
{
OSG_INFO<<"ViewerBase::startThreading() : Realizng window "<<gc<<std::endl;
gc->realize();
}
gc->getState()->setDynamicObjectRenderingCompletedCallback(_endDynamicDrawBlock.get());
// create the a graphics thread for this context
gc->createGraphicsThread();
if (affinity) gc->getGraphicsThread()->setProcessorAffinity(processNum % numProcessors);
threadAffinityMap[gc->getGraphicsThread()] = processNum % numProcessors;
// add the startRenderingBarrier
if (_threadingModel==CullDrawThreadPerContext && _startRenderingBarrier.valid()) gc->getGraphicsThread()->add(_startRenderingBarrier.get());
// add the rendering operation itself.
gc->getGraphicsThread()->add(new osg::RunOperations());
if (_threadingModel==CullDrawThreadPerContext && _endBarrierPosition==BeforeSwapBuffers && _endRenderingDispatchBarrier.valid())
{
// add the endRenderingDispatchBarrier
gc->getGraphicsThread()->add(_endRenderingDispatchBarrier.get());
}
if (swapReadyBarrier.valid()) gc->getGraphicsThread()->add(swapReadyBarrier.get());
// add the swap buffers
gc->getGraphicsThread()->add(swapOp.get());
if (_threadingModel==CullDrawThreadPerContext && _endBarrierPosition==AfterSwapBuffers && _endRenderingDispatchBarrier.valid())
{
// add the endRenderingDispatchBarrier
gc->getGraphicsThread()->add(_endRenderingDispatchBarrier.get());
}
}
if (_threadingModel==CullThreadPerCameraDrawThreadPerContext && numThreadsOnStartBarrier>1)
{
Cameras::iterator camItr;
for(camItr = cameras.begin();
camItr != cameras.end();
++camItr, ++processNum)
{
osg::Camera* camera = *camItr;
camera->createCameraThread();
if (affinity) camera->getCameraThread()->setProcessorAffinity(processNum % numProcessors);
threadAffinityMap[camera->getCameraThread()] = processNum % numProcessors;
osg::GraphicsContext* gc = camera->getGraphicsContext();
// add the startRenderingBarrier
if (_startRenderingBarrier.valid()) camera->getCameraThread()->add(_startRenderingBarrier.get());
Renderer* renderer = dynamic_cast<Renderer*>(camera->getRenderer());
renderer->setGraphicsThreadDoesCull(false);
camera->getCameraThread()->add(renderer);
if (_endRenderingDispatchBarrier.valid())
{
// add the endRenderingDispatchBarrier
gc->getGraphicsThread()->add(_endRenderingDispatchBarrier.get());
}
}
for(camItr = cameras.begin();
camItr != cameras.end();
++camItr)
{
osg::Camera* camera = *camItr;
if (camera->getCameraThread() && !camera->getCameraThread()->isRunning())
{
OSG_INFO<<" camera->getCameraThread()-> "<<camera->getCameraThread()<<std::endl;
camera->getCameraThread()->startThread();
}
}
}
#if 0
if (affinity)
{
OpenThreads::SetProcessorAffinityOfCurrentThread(0);
if (_scene.valid() && _scene->getDatabasePager())
{
#if 0
_scene->getDatabasePager()->setProcessorAffinity(1);
#else
_scene->getDatabasePager()->setProcessorAffinity(0);
#endif
}
}
#endif
#if 0
if (affinity)
{
for(ThreadAffinityMap::iterator titr = threadAffinityMap.begin();
titr != threadAffinityMap.end();
++titr)
{
titr->first->setProcessorAffinity(titr->second);
}
}
#endif
for(citr = contexts.begin();
citr != contexts.end();
++citr)
{
osg::GraphicsContext* gc = (*citr);
if (gc->getGraphicsThread() && !gc->getGraphicsThread()->isRunning())
{
OSG_INFO<<" gc->getGraphicsThread()->startThread() "<<gc->getGraphicsThread()<<std::endl;
gc->getGraphicsThread()->startThread();
// OpenThreads::Thread::YieldCurrentThread();
}
}
_threadsRunning = true;
OSG_INFO<<"Set up threading"<<std::endl;
}
void ViewerBase::stopThreading()
{
if (!_threadsRunning) return;
OSG_INFO<<"ViewerBase::stopThreading() - stopping threading"<<std::endl;
Contexts contexts;
getContexts(contexts);
Cameras cameras;
getCameras(cameras);
Contexts::iterator gcitr;
Cameras::iterator citr;
for(Cameras::iterator camItr = cameras.begin();
camItr != cameras.end();
++camItr)
{
osg::Camera* camera = *camItr;
Renderer* renderer = dynamic_cast<Renderer*>(camera->getRenderer());
if (renderer) renderer->release();
}
// delete all the graphics threads.
for(gcitr = contexts.begin();
gcitr != contexts.end();
++gcitr)
{
(*gcitr)->setGraphicsThread(0);
}
// delete all the camera threads.
for(citr = cameras.begin();
citr != cameras.end();
++citr)
{
(*citr)->setCameraThread(0);
}
for(Cameras::iterator camItr = cameras.begin();
camItr != cameras.end();
++camItr)
{
osg::Camera* camera = *camItr;
Renderer* renderer = dynamic_cast<Renderer*>(camera->getRenderer());
if (renderer)
{
renderer->setGraphicsThreadDoesCull( true );
renderer->setDone(false);
}
}
_threadsRunning = false;
_startRenderingBarrier = 0;
_endRenderingDispatchBarrier = 0;
_endDynamicDrawBlock = 0;
OSG_INFO<<"Viewer::stopThreading() - stopped threading."<<std::endl;
}
// Create a CTRL-C handler
void exit_handler(int s){
stereo.close();
exit(1);
}