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Commit 79e80837 authored by Fabian Paus's avatar Fabian Paus
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Optimize code

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source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h
+ 1
− 0
View file @ 79e80837
......@@ -28,6 +28,7 @@ namespace armarx
SoUnits* units;
SoTransform* transform;
SoMaterial* material;
bool wasUpdated = true;
};
class ElementVisualizer
......
source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+ 6
− 11
View file @ 79e80837
......@@ -49,12 +49,6 @@ namespace armarx::viz::coin
ARMARX_INFO << "Loading robot from " << fullFilename;
result = VirtualRobot::RobotIO::loadRobot(fullFilename, loadMode);
result->setThreadsafe(false);
// HACK: Disable visualization updates to time
for (auto& node : result->getRobotNodes())
{
node->setUpdateVisualization(false);
node->setUpdateCollisionModel(false);
}
}
catch (std::exception const& ex)
{
......@@ -172,11 +166,12 @@ namespace armarx::viz::coin
}
IceUtil::Time time_color = IceUtil::Time::now();
ARMARX_INFO << "Total: " << (time_color - time_start).toMilliSecondsDouble()
<< "\nLoad: " << (time_load - time_start).toMilliSecondsDouble()
<< "\nStyle: " << (time_style - time_load).toMilliSecondsDouble()
<< "\nSet: " << (time_set - time_style).toMilliSecondsDouble()
<< "\nColor: " << (time_color - time_set).toMilliSecondsDouble();
// Setting the joint angles takes > 0.5 ms! This is unexpected...
// ARMARX_INFO << "Total: " << (time_color - time_start).toMilliSecondsDouble()
// << "\nLoad: " << (time_load - time_start).toMilliSecondsDouble()
// << "\nStyle: " << (time_style - time_load).toMilliSecondsDouble()
// << "\nSet: " << (time_set - time_style).toMilliSecondsDouble()
// << "\nColor: " << (time_color - time_set).toMilliSecondsDouble();
return true;
}
......
source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+ 44
− 29
View file @ 79e80837
......@@ -123,50 +123,60 @@ namespace armarx::viz
layerIt = layers.emplace(layerID, CoinLayer(coinNode)).first;
}
std::set<std::string> updatedIDs;
IceUtil::Time time_start1 = IceUtil::Time::now();
IceUtil::Time time_start = IceUtil::Time::now();
// Add or update the elements in the update
CoinLayer& layer = layerIt->second;
for (auto& updatedElementPtr : update.elements)
{
Element const& updatedElement = *updatedElementPtr;
updatedIDs.insert(updatedElement.id);
Element const& updatedElement = *updatedElementPtr;
std::type_index elementType = typeid(updatedElement);
coin::ElementVisualizer* visualizer = nullptr;
for (auto& entry : elementVisualizers)
int visuIndex;
int visuSize = (int)elementVisualizersTypes.size();
for (visuIndex = 0; visuIndex < visuSize; ++visuIndex)
{
if (entry.first == elementType)
if (elementVisualizersTypes[visuIndex] == elementType)
{
visualizer = entry.second.get();
break;
}
}
if (visualizer == nullptr)
if (visuIndex >= visuSize)
{
ARMARX_WARNING << deactivateSpam(1)
<< "No visualizer for element type found: "
<< boost::core::demangle(elementType.name());
continue;
}
coin::ElementVisualizer* visualizer = elementVisualizers[visuIndex].get();
IceUtil::Time time_findVisu = IceUtil::Time::now();
auto oldElementIter = layer.elements.find(updatedElement.id);
IceUtil::Time time_findElement = IceUtil::Time::now();
if (oldElementIter != layer.elements.end())
{
// Element already exists
coin::ElementVisualization& oldElement = *oldElementIter->second;
oldElement.wasUpdated = true;
bool updated = visualizer->update(updatedElement, &oldElement);
if (update.name == "Example")
{
IceUtil::Time dur_elem = IceUtil::Time::now() - time_start;
ARMARX_INFO << "Elem " << updatedElement.id
<< ": " << dur_elem.toMilliSecondsDouble();
}
IceUtil::Time time_update = IceUtil::Time::now();
if (updated)
{
// if (update.name == "Example")
// {
// ARMARX_INFO << "Elem " << updatedElement.id
// << "\nFindV: " << (time_findVisu - time_start).toMilliSecondsDouble()
// << "\nFindE: " << (time_findElement - time_findVisu).toMilliSecondsDouble()
// << "\nUpdate: " << (time_update - time_findElement).toMilliSecondsDouble()
// << "\nTotal: " << (time_update - time_start).toMilliSecondsDouble();
// // ARMARX_INFO << "Elem " << updatedElement.id
// // << ": " << (time_update - time_start).toMilliSecondsDouble();
// time_start = time_update;
// }
continue;
}
else
......@@ -190,28 +200,33 @@ namespace armarx::viz
<< "You need to register a visualizer for each type in ArViz/Coin/Visualizer.cpp";
}
}
IceUtil::Time duration = IceUtil::Time::now() - time_start;
if (duration > IceUtil::Time::milliSeconds(2))
{
ARMARX_INFO << "Layer " << update.name << ": " << duration.toMilliSecondsDouble();
}
IceUtil::Time time_updates = IceUtil::Time::now();
// Remove the elements which were not contained in the update
for (auto iter = layer.elements.begin(); iter != layer.elements.end();)
{
std::string const& elementID = iter->first;
bool wasUpdated = (updatedIDs.count(elementID) > 0);
if (wasUpdated)
auto& elementVisu = *iter->second;
if (elementVisu.wasUpdated)
{
elementVisu.wasUpdated = false;
++iter;
}
else
{
auto& elementVisu = *iter->second;
layer.node->removeChild(elementVisu.separator);
iter = layer.elements.erase(iter);
}
}
IceUtil::Time time_remove = IceUtil::Time::now();
// if (update.name == "Example")
// {
// IceUtil::Time duration = IceUtil::Time::now() - time_start1;
// ARMARX_INFO << "Layer " << update.name
// << "\nUpdates: " << (time_updates - time_start1).toMilliSecondsDouble()
// << "\nRemoves: " << (time_remove - time_updates).toMilliSecondsDouble()
// << "\nTotal: " << (time_remove - time_start1).toMilliSecondsDouble();
// }
}
void CoinVisualizer::update()
......@@ -276,11 +291,11 @@ namespace armarx::viz
IceUtil::Time time_afterLayersChanged = IceUtil::Time::now();
// Most of the time is spent in apply
// ARMARX_INFO << "Updates: " << pulledUpdates.updates.size()
// << "\nTotal: " << (time_afterLayersChanged - time_start).toMilliSecondsDouble()
// << "\nPull: " << (time_afterPull - time_start).toMilliSecondsDouble()
// << "\nApply: " << (time_afterApply - time_afterPull).toMilliSecondsDouble()
// << "\nLayers: " << (time_afterLayersChanged - time_afterApply).toMilliSecondsDouble();
// ARMARX_INFO << "Updates: " << pulledUpdates.updates.size()
// << "\nTotal: " << (time_afterLayersChanged - time_start).toMilliSecondsDouble()
// << "\nPull: " << (time_afterPull - time_start).toMilliSecondsDouble()
// << "\nApply: " << (time_afterApply - time_afterPull).toMilliSecondsDouble()
// << "\nLayers: " << (time_afterLayersChanged - time_afterApply).toMilliSecondsDouble();
}
else
{
......
source/RobotAPI/components/ArViz/Coin/Visualizer.h
+ 5
− 3
View file @ 79e80837
......@@ -84,7 +84,8 @@ namespace armarx::viz
using ElementT = typename ElementVisuT::ElementType;
using VisualizerT = coin::TypedElementVisualizer<ElementVisuT>;
// Map element type to visualizer
elementVisualizers.emplace_back(typeid(ElementT), std::make_unique<VisualizerT>());
elementVisualizersTypes.emplace_back(typeid(ElementT));
elementVisualizers.push_back(std::make_unique<VisualizerT>());
}
void showLayer(CoinLayerID const& id, bool visible);
......@@ -99,8 +100,9 @@ namespace armarx::viz
SoTimerSensor* timerSensor = nullptr;
std::map<CoinLayerID, CoinLayer> layers;
using ElementVisualizerEntry = std::pair<std::type_index, std::unique_ptr<coin::ElementVisualizer>>;
std::vector<ElementVisualizerEntry> elementVisualizers;
std::vector<std::type_index> elementVisualizersTypes;
std::vector<std::unique_ptr<coin::ElementVisualizer>> elementVisualizers;
SoSeparator* root = nullptr;
......
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