void admPreview::stop( void )
{
renderLock();
if(previewMode==ADM_PREVIEW_SEPARATE)
DIA_previewEnd();
if( previewMode==ADM_PREVIEW_SIDE || previewMode==ADM_PREVIEW_TOP)
{
ADM_assert(original);
delete original;
original=NULL;
}
renderResize(rdrWindowWUnzoomed,rdrWindowHUnzoomed,rdrWindowWUnzoomed,rdrWindowHUnzoomed);
if(previewImage)
{
delete previewImage;
previewImage=NULL;
}
if(zoom!=ZOOM_1_1)
{
if(resized) delete resized;
if(resizer) delete resizer;
resized=NULL;
resizer=NULL;
}
renderUnlock();
}
/// <summary>
/// Start rendering.
/// </summary>
/// <param name="painter">The painter.</param>
/// <param name="forceWidthScale">Force a specific scale factor for line widths and marker sizes.</param>
void GRRenderer::render( QPainter* painter, double *forceWidthScale /*= 0 */ )
{
QMutexLocker renderLock( &mRenderMutex );
qDebug() << "=====Rendering=========";
QPaintDevice* thePaintDevice = painter->device();
if ( !thePaintDevice )
{
return;
}
// wait
if ( mDrawing )
{
qDebug() << "already rendering!";
QCoreApplication::processEvents();
}
if ( mDrawing )
{
qDebug() << "still rendering - skipping";
return;
}
mDrawing = true;
GRCoordinateTransform* ct;
if ( mOverview )
{
// mRenderContext.setDrawEditingInformation(!mOverview);
}
mRenderContext.setPainter( painter );
mRenderContext.setCoordinateTransform( 0 );
mRenderContext.setRenderingStopped( false );
//calculate scale factor
//use the specified dpi and not those from the paint device
//because sometimes QPainter units are in a local coord sys (e.g. in case of QGraphicsScene)
double sceneDpi = mScaleCalculator->dpi();
double scaleFactor = 1.0;
if ( mOutputUnits == GRRenderer::Millimeters )
{
if ( forceWidthScale )
{
scaleFactor = *forceWidthScale;
}
else
{
scaleFactor = sceneDpi / 25.4;
}
}
double rasterScaleFactor = ( thePaintDevice->logicalDpiX() + thePaintDevice->logicalDpiY() ) / 2.0 / sceneDpi;
// need to finish.................
}
void AudioDestinationNode::render(AudioBus* sourceBus, AudioBus* destinationBus, size_t numberOfFrames)
{
// The audio system might still be invoking callbacks during shutdown, so bail out if so.
if (!m_context)
return;
// We don't want denormals slowing down any of the audio processing
// since they can very seriously hurt performance.
// This will take care of all AudioNodes because they all process within this scope.
DenormalDisabler denormalDisabler;
ContextRenderLock renderLock(m_context, "AudioDestinationNode::render");
if (!renderLock.context())
return; // return if couldn't acquire lock
if (!m_context->isRunnable())
{
destinationBus->zero();
return;
}
// Let the context take care of any business at the start of each render quantum.
m_context->handlePreRenderTasks(renderLock);
// Prepare the local audio input provider for this render quantum.
if (sourceBus)
m_localAudioInputProvider->set(sourceBus);
// This will cause the node(s) connected to this destination node to process, which in turn will pull on their input(s),
// all the way backwards through the rendering graph.
AudioBus* renderedBus = input(0)->pull(renderLock, destinationBus, numberOfFrames);
if (!renderedBus)
{
destinationBus->zero();
}
else if (renderedBus != destinationBus)
{
// in-place processing was not possible - so copy
destinationBus->copyFrom(*renderedBus);
}
// Process nodes which need a little extra help because they are not connected to anything, but still need to process.
m_context->processAutomaticPullNodes(renderLock, numberOfFrames);
// Let the context take care of any business at the end of each render quantum.
m_context->handlePostRenderTasks(renderLock);
// Advance current sample-frame.
m_currentSampleFrame += numberOfFrames;
}
GraphicsSystem::GraphicsSystem () {
if (gRenderThread) {
mRenderThread=gRenderThread;
gKillGraphics=false;
}else {
boost::unique_lock<boost::mutex> renderLock(*Elysia::gRenderLock);
std::tr1::shared_ptr<boost::thread> x(new boost::thread(&myfunc));
gRenderCondition.wait(renderLock);
mRenderThread=gRenderThread=x;
gKillGraphics=false;
}
}
void PointCloudDisplay::setBillboardSize( float size )
{
{
RenderAutoLock renderLock( this );
billboard_size_ = size;
cloud_->setBillboardDimensions( size, size );
}
causeRender();
if ( billboard_size_property_ )
{
billboard_size_property_->changed();
}
causeRender();
}
void Deinitialize() {
{
boost::unique_lock<boost::mutex> renderLock(*Elysia::gRenderLock);
Elysia::gToRender.clear();
Elysia::gRenderCondition.notify_one();
Elysia::gRenderCompleteCondition.notify_one();
}
gShutDown=true;
gKillGraphics=false;
fflush(stdout);
fflush(stderr);
// while(!gShutdownComplete);
#ifdef _WIN32
Sleep(1000);
#else
sleep(1);//need to sleep to allow the gl context to destroy itself (mac requires the main thread exit by itself after the window is destroyed)
#endif
}
void PointCloudDisplay::setStyle( int style )
{
ROS_ASSERT( style < StyleCount );
{
RenderAutoLock renderLock( this );
style_ = style;
cloud_->setUsePoints( style == Points );
}
causeRender();
if ( style_property_ )
{
style_property_->changed();
}
causeRender();
}
void Renderer::render( const RenderData& data )
{
CORE_ASSERT( m_engine != nullptr, "no engine in renderer" );
std::lock_guard<std::mutex> renderLock( m_renderMutex );
m_timerData.renderStart = Core::Timer::Clock::now();
// 0. Save eventual already bound FBO (e.g. QtOpenGLWidget)
saveExternalFBOInternal();
// 1. Gather render objects and update them
std::vector<RenderObjectPtr> renderObjects;
m_engine->getRenderObjectManager()->getRenderObjects(renderObjects);
updateRenderObjectsInternal( data, renderObjects );
m_timerData.updateEnd = Core::Timer::Clock::now();
// 2. Feed render queues
feedRenderQueuesInternal( data, renderObjects );
m_timerData.feedRenderQueuesEnd = Core::Timer::Clock::now();
// 3. Do picking if needed
m_pickingResults.clear();
if ( !m_pickingQueries.empty() )
{
doPicking();
}
// 4. Do the rendering.
renderInternal( data );
m_timerData.mainRenderEnd = Core::Timer::Clock::now();
// 5. Post processing
postProcessInternal( data );
m_timerData.postProcessEnd = Core::Timer::Clock::now();
// 6. write image to framebuffer.
drawScreenInternal();
m_timerData.renderEnd = Core::Timer::Clock::now();
}
COverlayRenderer::~COverlayRenderer()
{
CAutoLock renderLock(&m_csRenderLock);
CAutoLock queueLock(&m_csOverlayQueue);
FreeOverlayQueue(BD_OVERLAY_IG);
FreeOverlayQueue(BD_OVERLAY_PG);
if (m_hOverlayTimerIG)
{
CloseHandle(m_hOverlayTimerIG);
m_hOverlayTimerIG = NULL;
}
if (m_hOverlayTimerPG)
{
CloseHandle(m_hOverlayTimerPG);
m_hOverlayTimerPG = NULL;
}
if (m_hNewOverlayAvailable)
CloseHandle(m_hNewOverlayAvailable);
if (m_hStopThreadEvent)
{
SetEvent(m_hStopThreadEvent);
CloseHandle(m_hStopThreadEvent);
WaitForSingleObject(m_hThread, INFINITE);
}
if (m_hThread)
CloseHandle(m_hThread);
CloseOverlay(BD_OVERLAY_PG);
CloseOverlay(BD_OVERLAY_IG);
}
void QgsMapRenderer::render( QPainter* painter, double* forceWidthScale )
{
//Lock render method for concurrent threads (e.g. from globe)
QMutexLocker renderLock( &mRenderMutex );
//flag to see if the render context has changed
//since the last time we rendered. If it hasnt changed we can
//take some shortcuts with rendering
bool mySameAsLastFlag = true;
QgsDebugMsg( "========== Rendering ==========" );
if ( mExtent.isEmpty() )
{
QgsDebugMsg( "empty extent... not rendering" );
return;
}
if ( mSize.width() == 1 && mSize.height() == 1 )
{
QgsDebugMsg( "size 1x1... not rendering" );
return;
}
QPaintDevice* thePaintDevice = painter->device();
if ( !thePaintDevice )
{
return;
}
// wait
if ( mDrawing )
{
QgsDebugMsg( "already rendering" );
QCoreApplication::processEvents();
}
if ( mDrawing )
{
QgsDebugMsg( "still rendering - skipping" );
return;
}
mDrawing = true;
const QgsCoordinateTransform *ct;
#ifdef QGISDEBUG
QgsDebugMsg( "Starting to render layer stack." );
QTime renderTime;
renderTime.start();
#endif
if ( mOverview )
mRenderContext.setDrawEditingInformation( !mOverview );
mRenderContext.setPainter( painter );
mRenderContext.setCoordinateTransform( 0 );
//this flag is only for stopping during the current rendering progress,
//so must be false at every new render operation
mRenderContext.setRenderingStopped( false );
// set selection color
QgsProject* prj = QgsProject::instance();
int myRed = prj->readNumEntry( "Gui", "/SelectionColorRedPart", 255 );
int myGreen = prj->readNumEntry( "Gui", "/SelectionColorGreenPart", 255 );
int myBlue = prj->readNumEntry( "Gui", "/SelectionColorBluePart", 0 );
int myAlpha = prj->readNumEntry( "Gui", "/SelectionColorAlphaPart", 255 );
mRenderContext.setSelectionColor( QColor( myRed, myGreen, myBlue, myAlpha ) );
//calculate scale factor
//use the specified dpi and not those from the paint device
//because sometimes QPainter units are in a local coord sys (e.g. in case of QGraphicsScene)
double sceneDpi = mScaleCalculator->dpi();
double scaleFactor = 1.0;
if ( mOutputUnits == QgsMapRenderer::Millimeters )
{
if ( forceWidthScale )
{
scaleFactor = *forceWidthScale;
}
else
{
scaleFactor = sceneDpi / 25.4;
}
}
double rasterScaleFactor = ( thePaintDevice->logicalDpiX() + thePaintDevice->logicalDpiY() ) / 2.0 / sceneDpi;
if ( mRenderContext.rasterScaleFactor() != rasterScaleFactor )
{
mRenderContext.setRasterScaleFactor( rasterScaleFactor );
mySameAsLastFlag = false;
}
if ( mRenderContext.scaleFactor() != scaleFactor )
{
mRenderContext.setScaleFactor( scaleFactor );
mySameAsLastFlag = false;
}
if ( mRenderContext.rendererScale() != mScale )
{
//add map scale to render context
mRenderContext.setRendererScale( mScale );
mySameAsLastFlag = false;
}
if ( mLastExtent != mExtent )
{
mLastExtent = mExtent;
mySameAsLastFlag = false;
}
mRenderContext.setLabelingEngine( mLabelingEngine );
if ( mLabelingEngine )
mLabelingEngine->init( this );
// know we know if this render is just a repeat of the last time, we
// can clear caches if it has changed
if ( !mySameAsLastFlag )
{
//clear the cache pixmap if we changed resolution / extent
QSettings mySettings;
if ( mySettings.value( "/qgis/enable_render_caching", false ).toBool() )
{
QgsMapLayerRegistry::instance()->clearAllLayerCaches();
}
}
// render all layers in the stack, starting at the base
QListIterator<QString> li( mLayerSet );
li.toBack();
QgsRectangle r1, r2;
while ( li.hasPrevious() )
{
if ( mRenderContext.renderingStopped() )
{
break;
}
// Store the painter in case we need to swap it out for the
// cache painter
QPainter * mypContextPainter = mRenderContext.painter();
// Flattened image for drawing when a blending mode is set
QImage * mypFlattenedImage = 0;
QString layerId = li.previous();
QgsDebugMsg( "Rendering at layer item " + layerId );
// This call is supposed to cause the progress bar to
// advance. However, it seems that updating the progress bar is
// incompatible with having a QPainter active (the one that is
// passed into this function), as Qt produces a number of errors
// when try to do so. I'm (Gavin) not sure how to fix this, but
// added these comments and debug statement to help others...
QgsDebugMsg( "If there is a QPaintEngine error here, it is caused by an emit call" );
//emit drawingProgress(myRenderCounter++, mLayerSet.size());
QgsMapLayer *ml = QgsMapLayerRegistry::instance()->mapLayer( layerId );
if ( !ml )
{
QgsDebugMsg( "Layer not found in registry!" );
continue;
}
QgsDebugMsg( QString( "layer %1: minscale:%2 maxscale:%3 scaledepvis:%4 extent:%5 blendmode:%6" )
.arg( ml->name() )
.arg( ml->minimumScale() )
.arg( ml->maximumScale() )
.arg( ml->hasScaleBasedVisibility() )
.arg( ml->extent().toString() )
.arg( ml->blendMode() )
);
if ( mRenderContext.useAdvancedEffects() )
{
// Set the QPainter composition mode so that this layer is rendered using
// the desired blending mode
mypContextPainter->setCompositionMode( ml->blendMode() );
}
if ( !ml->hasScaleBasedVisibility() || ( ml->minimumScale() <= mScale && mScale < ml->maximumScale() ) || mOverview )
{
connect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
//
// Now do the call to the layer that actually does
// the rendering work!
//
bool split = false;
if ( hasCrsTransformEnabled() )
{
r1 = mExtent;
split = splitLayersExtent( ml, r1, r2 );
ct = transformation( ml );
mRenderContext.setExtent( r1 );
QgsDebugMsg( " extent 1: " + r1.toString() );
QgsDebugMsg( " extent 2: " + r2.toString() );
if ( !r1.isFinite() || !r2.isFinite() ) //there was a problem transforming the extent. Skip the layer
{
continue;
}
}
else
{
ct = NULL;
}
mRenderContext.setCoordinateTransform( ct );
//decide if we have to scale the raster
//this is necessary in case QGraphicsScene is used
bool scaleRaster = false;
QgsMapToPixel rasterMapToPixel;
QgsMapToPixel bk_mapToPixel;
if ( ml->type() == QgsMapLayer::RasterLayer && qAbs( rasterScaleFactor - 1.0 ) > 0.000001 )
{
scaleRaster = true;
}
// Force render of layers that are being edited
// or if there's a labeling engine that needs the layer to register features
if ( ml->type() == QgsMapLayer::VectorLayer )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if ( vl->isEditable() ||
( mRenderContext.labelingEngine() && mRenderContext.labelingEngine()->willUseLayer( vl ) ) )
{
ml->setCacheImage( 0 );
}
}
QSettings mySettings;
bool useRenderCaching = false;
if ( ! split )//render caching does not yet cater for split extents
{
if ( mySettings.value( "/qgis/enable_render_caching", false ).toBool() )
{
useRenderCaching = true;
if ( !mySameAsLastFlag || ml->cacheImage() == 0 )
{
QgsDebugMsg( "Caching enabled but layer redraw forced by extent change or empty cache" );
QImage * mypImage = new QImage( mRenderContext.painter()->device()->width(),
mRenderContext.painter()->device()->height(), QImage::Format_ARGB32 );
if ( mypImage->isNull() )
{
QgsDebugMsg( "insufficient memory for image " + QString::number( mRenderContext.painter()->device()->width() ) + "x" + QString::number( mRenderContext.painter()->device()->height() ) );
emit drawError( ml );
painter->end(); // drawError is not caught by anyone, so we end painting to notify caller
return;
}
mypImage->fill( 0 );
ml->setCacheImage( mypImage ); //no need to delete the old one, maplayer does it for you
QPainter * mypPainter = new QPainter( ml->cacheImage() );
// Changed to enable anti aliasing by default in QGIS 1.7
if ( mySettings.value( "/qgis/enable_anti_aliasing", true ).toBool() )
{
mypPainter->setRenderHint( QPainter::Antialiasing );
}
mRenderContext.setPainter( mypPainter );
}
else if ( mySameAsLastFlag )
{
//draw from cached image
QgsDebugMsg( "Caching enabled --- drawing layer from cached image" );
mypContextPainter->drawImage( 0, 0, *( ml->cacheImage() ) );
disconnect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
//short circuit as there is nothing else to do...
continue;
}
}
}
// If we are drawing with an alternative blending mode then we need to render to a separate image
// before compositing this on the map. This effectively flattens the layer and prevents
// blending occuring between objects on the layer
// (this is not required for raster layers or when layer caching is enabled, since that has the same effect)
bool flattenedLayer = false;
if (( mRenderContext.useAdvancedEffects() ) && ( ml->type() == QgsMapLayer::VectorLayer ) )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if (( !useRenderCaching )
&& (( vl->blendMode() != QPainter::CompositionMode_SourceOver )
|| ( vl->featureBlendMode() != QPainter::CompositionMode_SourceOver )
|| ( vl->layerTransparency() != 0 ) ) )
{
flattenedLayer = true;
mypFlattenedImage = new QImage( mRenderContext.painter()->device()->width(),
mRenderContext.painter()->device()->height(), QImage::Format_ARGB32 );
if ( mypFlattenedImage->isNull() )
{
QgsDebugMsg( "insufficient memory for image " + QString::number( mRenderContext.painter()->device()->width() ) + "x" + QString::number( mRenderContext.painter()->device()->height() ) );
emit drawError( ml );
painter->end(); // drawError is not caught by anyone, so we end painting to notify caller
return;
}
mypFlattenedImage->fill( 0 );
QPainter * mypPainter = new QPainter( mypFlattenedImage );
if ( mySettings.value( "/qgis/enable_anti_aliasing", true ).toBool() )
{
mypPainter->setRenderHint( QPainter::Antialiasing );
}
mypPainter->scale( rasterScaleFactor, rasterScaleFactor );
mRenderContext.setPainter( mypPainter );
}
}
// Per feature blending mode
if (( mRenderContext.useAdvancedEffects() ) && ( ml->type() == QgsMapLayer::VectorLayer ) )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if ( vl->featureBlendMode() != QPainter::CompositionMode_SourceOver )
{
// set the painter to the feature blend mode, so that features drawn
// on this layer will interact and blend with each other
mRenderContext.painter()->setCompositionMode( vl->featureBlendMode() );
}
}
if ( scaleRaster )
{
bk_mapToPixel = mRenderContext.mapToPixel();
rasterMapToPixel = mRenderContext.mapToPixel();
rasterMapToPixel.setMapUnitsPerPixel( mRenderContext.mapToPixel().mapUnitsPerPixel() / rasterScaleFactor );
rasterMapToPixel.setYMaximum( mSize.height() * rasterScaleFactor );
mRenderContext.setMapToPixel( rasterMapToPixel );
mRenderContext.painter()->save();
mRenderContext.painter()->scale( 1.0 / rasterScaleFactor, 1.0 / rasterScaleFactor );
}
if ( !ml->draw( mRenderContext ) )
{
emit drawError( ml );
}
else
{
QgsDebugMsg( "Layer rendered without issues" );
}
if ( split )
{
mRenderContext.setExtent( r2 );
if ( !ml->draw( mRenderContext ) )
{
emit drawError( ml );
}
}
if ( scaleRaster )
{
mRenderContext.setMapToPixel( bk_mapToPixel );
mRenderContext.painter()->restore();
}
//apply layer transparency for vector layers
if (( mRenderContext.useAdvancedEffects() ) && ( ml->type() == QgsMapLayer::VectorLayer ) )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if ( vl->layerTransparency() != 0 )
{
// a layer transparency has been set, so update the alpha for the flattened layer
// by combining it with the layer transparency
QColor transparentFillColor = QColor( 0, 0, 0, 255 - ( 255 * vl->layerTransparency() / 100 ) );
// use destination in composition mode to merge source's alpha with destination
mRenderContext.painter()->setCompositionMode( QPainter::CompositionMode_DestinationIn );
mRenderContext.painter()->fillRect( 0, 0, mRenderContext.painter()->device()->width(),
mRenderContext.painter()->device()->height(), transparentFillColor );
}
}
if ( useRenderCaching )
{
// composite the cached image into our view and then clean up from caching
// by reinstating the painter as it was swapped out for caching renders
delete mRenderContext.painter();
mRenderContext.setPainter( mypContextPainter );
//draw from cached image that we created further up
if ( ml->cacheImage() )
mypContextPainter->drawImage( 0, 0, *( ml->cacheImage() ) );
}
else if ( flattenedLayer )
{
// If we flattened this layer for alternate blend modes, composite it now
delete mRenderContext.painter();
mRenderContext.setPainter( mypContextPainter );
mypContextPainter->save();
mypContextPainter->scale( 1.0 / rasterScaleFactor, 1.0 / rasterScaleFactor );
mypContextPainter->drawImage( 0, 0, *( mypFlattenedImage ) );
mypContextPainter->restore();
delete mypFlattenedImage;
mypFlattenedImage = 0;
}
disconnect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
}
void PointCloudDisplay::reset()
{
RenderAutoLock renderLock( this );
cloud_->clear();
}
void PointCloudDisplay::fixedFrameChanged()
{
RenderAutoLock renderLock( this );
cloud_->clear();
}
void PointCloudDisplay::transformCloud()
{
if ( message_.header.frame_id.empty() )
{
message_.header.frame_id = fixed_frame_;
}
tf::Stamped<tf::Pose> pose( btTransform( btQuaternion( 0, 0, 0 ), btVector3( 0, 0, 0 ) ), message_.header.stamp, message_.header.frame_id );
try
{
tf_->transformPose( fixed_frame_, pose, pose );
}
catch(tf::TransformException& e)
{
ROS_ERROR( "Error transforming point cloud '%s' from frame '%s' to frame '%s'\n", name_.c_str(), message_.header.frame_id.c_str(), fixed_frame_.c_str() );
}
Ogre::Vector3 position( pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z() );
robotToOgre( position );
btScalar yaw, pitch, roll;
pose.getBasis().getEulerZYX( yaw, pitch, roll );
Ogre::Matrix3 orientation( ogreMatrixFromRobotEulers( yaw, pitch, roll ) );
// First find the min/max intensity values
float min_intensity = 999999.0f;
float max_intensity = -999999.0f;
typedef std::vector<std_msgs::ChannelFloat32> V_Chan;
typedef std::vector<bool> V_bool;
V_bool valid_channels(message_.chan.size());
uint32_t point_count = message_.get_pts_size();
V_Chan::iterator chan_it = message_.chan.begin();
V_Chan::iterator chan_end = message_.chan.end();
uint32_t index = 0;
for ( ; chan_it != chan_end; ++chan_it, ++index )
{
std_msgs::ChannelFloat32& chan = *chan_it;
uint32_t val_count = chan.vals.size();
bool channel_size_correct = val_count == point_count;
ROS_ERROR_COND(!channel_size_correct, "Point cloud '%s' on topic '%s' has channel 0 with fewer values than points (%d values, %d points)", name_.c_str(), topic_.c_str(), val_count, point_count);
valid_channels[index] = channel_size_correct;
if ( channel_size_correct && ( chan.name.empty() || chan.name == "intensity" || chan.name == "intensities" ) )
{
for(uint32_t i = 0; i < point_count; i++)
{
float& intensity = chan.vals[i];
// arbitrarily cap to 4096 for now
intensity = std::min( intensity, 4096.0f );
min_intensity = std::min( min_intensity, intensity );
max_intensity = std::max( max_intensity, intensity );
}
}
}
float diff_intensity = max_intensity - min_intensity;
typedef std::vector< ogre_tools::PointCloud::Point > V_Point;
V_Point points;
points.resize( point_count );
for(uint32_t i = 0; i < point_count; i++)
{
Ogre::Vector3 color( color_.r_, color_.g_, color_.b_ );
ogre_tools::PointCloud::Point& current_point = points[ i ];
current_point.x_ = message_.pts[i].x;
current_point.y_ = message_.pts[i].y;
current_point.z_ = message_.pts[i].z;
current_point.r_ = color.x;
current_point.g_ = color.y;
current_point.b_ = color.z;
}
chan_it = message_.chan.begin();
index = 0;
for ( ; chan_it != chan_end; ++chan_it, ++index )
{
if ( !valid_channels[index] )
{
continue;
}
std_msgs::ChannelFloat32& chan = *chan_it;
enum ChannelType
{
CT_INTENSITY,
CT_RGB,
CT_R,
CT_G,
CT_B,
CT_COUNT
};
ChannelType type = CT_INTENSITY;
if ( chan.name == "rgb" )
{
type = CT_RGB;
}
else if ( chan.name == "r" )
{
type = CT_R;
}
else if ( chan.name == "g" )
{
type = CT_G;
}
else if ( chan.name == "b" )
{
type = CT_B;
}
typedef void (*TransformFunc)(float, ogre_tools::PointCloud::Point&, float, float, float);
TransformFunc funcs[CT_COUNT] =
{
transformIntensity,
transformRGB,
transformR,
transformG,
transformB
};
for(uint32_t i = 0; i < point_count; i++)
{
ogre_tools::PointCloud::Point& current_point = points[ i ];
funcs[type]( chan.vals[i], current_point, min_intensity, max_intensity, diff_intensity );
}
}
{
RenderAutoLock renderLock( this );
scene_node_->setPosition( position );
scene_node_->setOrientation( orientation );
cloud_->clear();
if ( !points.empty() )
{
cloud_->addPoints( &points.front(), points.size() );
}
}
causeRender();
}
void admPreview::start( void )
{
aprintf("--killing\n");
renderLock();
getFirstVideoFilter();
preview=videofilters[ nb_active_filter-1].filter;
aprintf("--spawning\n");
ADM_assert(!previewImage)
previewImage=new ADMImage(preview->getInfo()->width,preview->getInfo()->height);
ADM_assert(!original);
switch(previewMode)
{
case ADM_PREVIEW_SEPARATE:
DIA_previewInit(preview->getInfo()->width,preview->getInfo()->height);
/* no break here, not a mistake */
case ADM_PREVIEW_NONE:
rdrWindowWUnzoomed=rdrPhysicalW;
rdrWindowHUnzoomed=rdrPhysicalH;
break;
case ADM_PREVIEW_OUTPUT:
rdrWindowWUnzoomed=preview->getInfo()->width;
rdrWindowHUnzoomed=preview->getInfo()->height;
break;
case ADM_PREVIEW_SIDE:
{
rdrWindowWUnzoomed=rdrPhysicalW+preview->getInfo()->width;
rdrWindowHUnzoomed=MAX(rdrPhysicalH,preview->getInfo()->height);
original=new ADMImage(rdrWindowWUnzoomed,rdrWindowHUnzoomed);
break;
}
case ADM_PREVIEW_TOP:
{
rdrWindowWUnzoomed=MAX(rdrPhysicalW,preview->getInfo()->width);
rdrWindowHUnzoomed=rdrPhysicalH+preview->getInfo()->height;
original=new ADMImage(rdrWindowWUnzoomed,rdrWindowHUnzoomed);
break;
}
default: ADM_assert(0);
}
if(zoom!=ZOOM_1_1)
{
int mul;
switch(zoom)
{
case ZOOM_1_4: mul=1;break;
case ZOOM_1_2: mul=2;break;
case ZOOM_1_1: mul=4;break;
case ZOOM_2: mul=8;break;
case ZOOM_4: mul=16;break;
default : ADM_assert(0);
}
rdrWindowWZoomed=(rdrWindowWUnzoomed*mul+3)/4;
rdrWindowHZoomed=(rdrWindowHUnzoomed*mul+3)/4;
if(rdrWindowWZoomed&1) rdrWindowWZoomed++;
if(rdrWindowHZoomed&1) rdrWindowHZoomed++;
ADM_assert(!resized);
resized=new ADMImage(rdrWindowWZoomed,rdrWindowHZoomed);
ADM_assert(!resizer);
resizer=new ADMImageResizer(rdrWindowWUnzoomed,rdrWindowHUnzoomed,rdrWindowWZoomed,rdrWindowHZoomed);
renderResize(rdrWindowWZoomed,rdrWindowHZoomed,rdrWindowWUnzoomed,rdrWindowHUnzoomed);
}else
{
renderResize(rdrWindowWUnzoomed,rdrWindowHUnzoomed,rdrWindowWUnzoomed,rdrWindowHUnzoomed);
}
renderUnlock();
}
void QgsMapRenderer::render( QPainter* painter, double* forceWidthScale )
{
//Lock render method for concurrent threads (e.g. from globe)
QMutexLocker renderLock( &mRenderMutex );
//flag to see if the render context has changed
//since the last time we rendered. If it hasnt changed we can
//take some shortcuts with rendering
bool mySameAsLastFlag = true;
QgsDebugMsg( "========== Rendering ==========" );
if ( mExtent.isEmpty() )
{
QgsDebugMsg( "empty extent... not rendering" );
return;
}
if ( mSize.width() == 1 && mSize.height() == 1 )
{
QgsDebugMsg( "size 1x1... not rendering" );
return;
}
QPaintDevice* thePaintDevice = painter->device();
if ( !thePaintDevice )
{
return;
}
// wait
if ( mDrawing )
{
QgsDebugMsg( "already rendering" );
QCoreApplication::processEvents();
}
if ( mDrawing )
{
QgsDebugMsg( "still rendering - skipping" );
return;
}
mDrawing = true;
QgsCoordinateTransform* ct;
#ifdef QGISDEBUG
QgsDebugMsg( "Starting to render layer stack." );
QTime renderTime;
renderTime.start();
#endif
if ( mOverview )
mRenderContext.setDrawEditingInformation( !mOverview );
mRenderContext.setPainter( painter );
mRenderContext.setCoordinateTransform( 0 );
//this flag is only for stopping during the current rendering progress,
//so must be false at every new render operation
mRenderContext.setRenderingStopped( false );
//calculate scale factor
//use the specified dpi and not those from the paint device
//because sometimes QPainter units are in a local coord sys (e.g. in case of QGraphicsScene)
double sceneDpi = mScaleCalculator->dpi();
double scaleFactor = 1.0;
if ( mOutputUnits == QgsMapRenderer::Millimeters )
{
if ( forceWidthScale )
{
scaleFactor = *forceWidthScale;
}
else
{
scaleFactor = sceneDpi / 25.4;
}
}
double rasterScaleFactor = ( thePaintDevice->logicalDpiX() + thePaintDevice->logicalDpiY() ) / 2.0 / sceneDpi;
if ( mRenderContext.rasterScaleFactor() != rasterScaleFactor )
{
mRenderContext.setRasterScaleFactor( rasterScaleFactor );
mySameAsLastFlag = false;
}
if ( mRenderContext.scaleFactor() != scaleFactor )
{
mRenderContext.setScaleFactor( scaleFactor );
mySameAsLastFlag = false;
}
if ( mRenderContext.rendererScale() != mScale )
{
//add map scale to render context
mRenderContext.setRendererScale( mScale );
mySameAsLastFlag = false;
}
if ( mLastExtent != mExtent )
{
mLastExtent = mExtent;
mySameAsLastFlag = false;
}
mRenderContext.setLabelingEngine( mLabelingEngine );
if ( mLabelingEngine )
mLabelingEngine->init( this );
// know we know if this render is just a repeat of the last time, we
// can clear caches if it has changed
if ( !mySameAsLastFlag )
{
//clear the cache pixmap if we changed resolution / extent
QSettings mySettings;
if ( mySettings.value( "/qgis/enable_render_caching", false ).toBool() )
{
QgsMapLayerRegistry::instance()->clearAllLayerCaches();
}
}
QgsOverlayObjectPositionManager* overlayManager = overlayManagerFromSettings();
QList<QgsVectorOverlay*> allOverlayList; //list of all overlays, used to draw them after layers have been rendered
// render all layers in the stack, starting at the base
QListIterator<QString> li( mLayerSet );
li.toBack();
QgsRectangle r1, r2;
while ( li.hasPrevious() )
{
if ( mRenderContext.renderingStopped() )
{
break;
}
// Store the painter in case we need to swap it out for the
// cache painter
QPainter * mypContextPainter = mRenderContext.painter();
QString layerId = li.previous();
QgsDebugMsg( "Rendering at layer item " + layerId );
// This call is supposed to cause the progress bar to
// advance. However, it seems that updating the progress bar is
// incompatible with having a QPainter active (the one that is
// passed into this function), as Qt produces a number of errors
// when try to do so. I'm (Gavin) not sure how to fix this, but
// added these comments and debug statement to help others...
QgsDebugMsg( "If there is a QPaintEngine error here, it is caused by an emit call" );
//emit drawingProgress(myRenderCounter++, mLayerSet.size());
QgsMapLayer *ml = QgsMapLayerRegistry::instance()->mapLayer( layerId );
if ( !ml )
{
QgsDebugMsg( "Layer not found in registry!" );
continue;
}
QgsDebugMsg( QString( "layer %1: minscale:%2 maxscale:%3 scaledepvis:%4 extent:%5" )
.arg( ml->name() )
.arg( ml->minimumScale() )
.arg( ml->maximumScale() )
.arg( ml->hasScaleBasedVisibility() )
.arg( ml->extent().toString() )
);
if ( !ml->hasScaleBasedVisibility() || ( ml->minimumScale() < mScale && mScale < ml->maximumScale() ) || mOverview )
{
connect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
//
// Now do the call to the layer that actually does
// the rendering work!
//
bool split = false;
if ( hasCrsTransformEnabled() )
{
r1 = mExtent;
split = splitLayersExtent( ml, r1, r2 );
ct = new QgsCoordinateTransform( ml->crs(), *mDestCRS );
mRenderContext.setExtent( r1 );
QgsDebugMsg( " extent 1: " + r1.toString() );
QgsDebugMsg( " extent 2: " + r2.toString() );
if ( !r1.isFinite() || !r2.isFinite() ) //there was a problem transforming the extent. Skip the layer
{
continue;
}
}
else
{
ct = NULL;
}
mRenderContext.setCoordinateTransform( ct );
//decide if we have to scale the raster
//this is necessary in case QGraphicsScene is used
bool scaleRaster = false;
QgsMapToPixel rasterMapToPixel;
QgsMapToPixel bk_mapToPixel;
if ( ml->type() == QgsMapLayer::RasterLayer && qAbs( rasterScaleFactor - 1.0 ) > 0.000001 )
{
scaleRaster = true;
}
//create overlay objects for features within the view extent
if ( ml->type() == QgsMapLayer::VectorLayer && overlayManager )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if ( vl )
{
QList<QgsVectorOverlay*> thisLayerOverlayList;
vl->vectorOverlays( thisLayerOverlayList );
QList<QgsVectorOverlay*>::iterator overlayIt = thisLayerOverlayList.begin();
for ( ; overlayIt != thisLayerOverlayList.end(); ++overlayIt )
{
if (( *overlayIt )->displayFlag() )
{
( *overlayIt )->createOverlayObjects( mRenderContext );
allOverlayList.push_back( *overlayIt );
}
}
overlayManager->addLayer( vl, thisLayerOverlayList );
}
}
// Force render of layers that are being edited
// or if there's a labeling engine that needs the layer to register features
if ( ml->type() == QgsMapLayer::VectorLayer )
{
QgsVectorLayer* vl = qobject_cast<QgsVectorLayer *>( ml );
if ( vl->isEditable() ||
( mRenderContext.labelingEngine() && mRenderContext.labelingEngine()->willUseLayer( vl ) ) )
{
ml->setCacheImage( 0 );
}
}
QSettings mySettings;
if ( ! split )//render caching does not yet cater for split extents
{
if ( mySettings.value( "/qgis/enable_render_caching", false ).toBool() )
{
if ( !mySameAsLastFlag || ml->cacheImage() == 0 )
{
QgsDebugMsg( "Caching enabled but layer redraw forced by extent change or empty cache" );
QImage * mypImage = new QImage( mRenderContext.painter()->device()->width(),
mRenderContext.painter()->device()->height(), QImage::Format_ARGB32 );
mypImage->fill( 0 );
ml->setCacheImage( mypImage ); //no need to delete the old one, maplayer does it for you
QPainter * mypPainter = new QPainter( ml->cacheImage() );
// Changed to enable anti aliasing by default in QGIS 1.7
if ( mySettings.value( "/qgis/enable_anti_aliasing", true ).toBool() )
{
mypPainter->setRenderHint( QPainter::Antialiasing );
}
mRenderContext.setPainter( mypPainter );
}
else if ( mySameAsLastFlag )
{
//draw from cached image
QgsDebugMsg( "Caching enabled --- drawing layer from cached image" );
mypContextPainter->drawImage( 0, 0, *( ml->cacheImage() ) );
disconnect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
//short circuit as there is nothing else to do...
continue;
}
}
}
if ( scaleRaster )
{
bk_mapToPixel = mRenderContext.mapToPixel();
rasterMapToPixel = mRenderContext.mapToPixel();
rasterMapToPixel.setMapUnitsPerPixel( mRenderContext.mapToPixel().mapUnitsPerPixel() / rasterScaleFactor );
rasterMapToPixel.setYMaximum( mSize.height() * rasterScaleFactor );
mRenderContext.setMapToPixel( rasterMapToPixel );
mRenderContext.painter()->save();
mRenderContext.painter()->scale( 1.0 / rasterScaleFactor, 1.0 / rasterScaleFactor );
}
if ( !ml->draw( mRenderContext ) )
{
emit drawError( ml );
}
else
{
QgsDebugMsg( "Layer rendered without issues" );
}
if ( split )
{
mRenderContext.setExtent( r2 );
if ( !ml->draw( mRenderContext ) )
{
emit drawError( ml );
}
}
if ( scaleRaster )
{
mRenderContext.setMapToPixel( bk_mapToPixel );
mRenderContext.painter()->restore();
}
if ( mySettings.value( "/qgis/enable_render_caching", false ).toBool() )
{
if ( !split )
{
// composite the cached image into our view and then clean up from caching
// by reinstating the painter as it was swapped out for caching renders
delete mRenderContext.painter();
mRenderContext.setPainter( mypContextPainter );
//draw from cached image that we created further up
mypContextPainter->drawImage( 0, 0, *( ml->cacheImage() ) );
}
}
disconnect( ml, SIGNAL( drawingProgress( int, int ) ), this, SLOT( onDrawingProgress( int, int ) ) );
}
else // layer not visible due to scale
{
