diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index 075f05b3cdaa90dc13635972e7d95a9f20fea4dc..58b14a230c17340f897e7625fe4b7c638cc37415 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -49,6 +49,12 @@ 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)
{
@@ -56,6 +62,7 @@ namespace armarx::viz::coin
<< "\nReason: " << ex.what();
}
+
return result;
}
@@ -99,6 +106,8 @@ namespace armarx::viz::coin
bool VisualizationRobot::update(ElementType const& element)
{
+ IceUtil::Time time_start = IceUtil::Time::now();
+
bool robotChanged = loaded.project != element.project || loaded.filename != element.filename;
if (robotChanged)
{
@@ -113,12 +122,15 @@ namespace armarx::viz::coin
<< "\nFilename: " << element.filename;
return true;
}
+ IceUtil::Time time_load = IceUtil::Time::now();
+
bool drawStyleChanged = loadedDrawStyle != element.drawStyle;
if (robotChanged || drawStyleChanged)
{
recreateVisualizationNodes(element.drawStyle);
loadedDrawStyle = element.drawStyle;
}
+ IceUtil::Time time_style = IceUtil::Time::now();
// Set pose, configuration and so on
@@ -132,8 +144,9 @@ namespace armarx::viz::coin
// robot.setGlobalPose(pose, false);
robot.setJointValues(element.jointValues);
+ IceUtil::Time time_set = IceUtil::Time::now();
- if (loadedDrawStyle & ModelDrawStyle_OVERRIDE_COLOR)
+ if (loadedDrawStyle & ModelDrawStyle::OVERRIDE_COLOR)
{
int numChildren = node->getNumChildren();
for (int i = 0; i < numChildren; i++)
@@ -157,6 +170,13 @@ namespace armarx::viz::coin
m->setOverride(true);
}
}
+ 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();
return true;
}
@@ -164,7 +184,7 @@ namespace armarx::viz::coin
void VisualizationRobot::recreateVisualizationNodes(int drawStyle)
{
VirtualRobot::SceneObject::VisualizationType visuType = VirtualRobot::SceneObject::Full;
- if (drawStyle & ModelDrawStyle_COLLISION)
+ if (drawStyle & ModelDrawStyle::COLLISION)
{
visuType = VirtualRobot::SceneObject::Collision;
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
index 15c81347abea9dc26e14de426feda46b8eaa8c07..0f4a49211a9d04cfe929ec46871db45026eec751 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.h
@@ -24,7 +24,7 @@ namespace armarx::viz::coin
void recreateVisualizationNodes(int drawStyle);
LoadedRobot loaded;
- int loadedDrawStyle = ModelDrawStyle_ORIGINAL;
+ int loadedDrawStyle = ModelDrawStyle::ORIGINAL;
};
void clearRobotCache();
diff --git a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
index 92135134dcc176c7a0a672633156c6809ba68b5f..6ae7956ce17b8eafc9825944a1694b0c36cfe627 100644
--- a/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/Visualizer.cpp
@@ -125,6 +125,7 @@ namespace armarx::viz
std::set<std::string> updatedIDs;
+ IceUtil::Time time_start = IceUtil::Time::now();
// Add or update the elements in the update
CoinLayer& layer = layerIt->second;
for (auto& updatedElementPtr : update.elements)
@@ -145,9 +146,10 @@ namespace armarx::viz
}
if (visualizer == nullptr)
{
- ARMARX_WARNING << "No visualizer for element type found: "
+ ARMARX_WARNING << deactivateSpam(1)
+ << "No visualizer for element type found: "
<< boost::core::demangle(elementType.name());
- return;
+ continue;
}
auto oldElementIter = layer.elements.find(updatedElement.id);
@@ -157,6 +159,12 @@ namespace armarx::viz
coin::ElementVisualization& oldElement = *oldElementIter->second;
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();
+ }
if (updated)
{
continue;
@@ -182,6 +190,11 @@ 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();
+ }
// Remove the elements which were not contained in the update
for (auto iter = layer.elements.begin(); iter != layer.elements.end();)
@@ -240,25 +253,34 @@ namespace armarx::viz
// We never block the GUI thread with Ice calls: Only get result when call is completed
if (pullUpdateResult->isCompleted())
{
- TimedBlock block("apply-updates");
+ IceUtil::Time time_start = IceUtil::Time::now();
auto layerIDsBefore = getLayerIDs();
LayerUpdates pulledUpdates = storage->end_pullUpdatesSince(pullUpdateResult);
+ IceUtil::Time time_afterPull = IceUtil::Time::now();
+
pullUpdateResult = nullptr;
for (LayerUpdate const& update : pulledUpdates.updates)
{
apply(update);
}
updateCounter = pulledUpdates.updateCounter;
+ IceUtil::Time time_afterApply = IceUtil::Time::now();
auto layerIDsAfter = getLayerIDs();
if (layerIDsAfter != layerIDsBefore)
{
emitLayersChanged(layerIDsAfter);
}
-
- ARMARX_INFO << "Updates: " << pulledUpdates.updates.size();
+ 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();
}
else
{
@@ -311,6 +333,7 @@ namespace armarx::viz
std::vector<CoinLayerID> CoinVisualizer::getLayerIDs()
{
std::vector<CoinLayerID> result;
+ result.reserve(layers.size());
for (auto& entry : layers)
{
result.push_back(entry.first);
diff --git a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
index 94e5ccc5894a32bb8f761b22cb95675530f370ac..9e4d49e3991e22369e6b7b7206ef5a14b9cf9042 100644
--- a/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArVizExample/ArVizExample.cpp
@@ -382,31 +382,30 @@ namespace armarx::viz
return *this;
}
- // Encapsulate this
Robot& useCollisionModel()
{
- data_->drawStyle |= ModelDrawStyle_COLLISION;
+ data_->drawStyle |= ModelDrawStyle::COLLISION;
return *this;
}
Robot& useFullModel()
{
- data_->drawStyle &= ~ModelDrawStyle_COLLISION;
+ data_->drawStyle &= ~ModelDrawStyle::COLLISION;
return *this;
}
Robot& overrideColor(unsigned char r, unsigned char g, unsigned char b, unsigned char a = 255)
{
- data_->drawStyle |= ModelDrawStyle_OVERRIDE_COLOR;
+ data_->drawStyle |= ModelDrawStyle::OVERRIDE_COLOR;
return color(r, g, b, a);
}
Robot& useOriginalColor()
{
- data_->drawStyle &= ~ModelDrawStyle_OVERRIDE_COLOR;
+ data_->drawStyle &= ~ModelDrawStyle::OVERRIDE_COLOR;
return *this;
}
@@ -770,5 +769,3 @@ armarx::PropertyDefinitionsPtr ArVizExample::createPropertyDefinitions()
return armarx::PropertyDefinitionsPtr(new ArVizExamplePropertyDefinitions(
getConfigIdentifier()));
}
-
-
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 6745ceb88d957e191cbd3ec0b802bb2f5cbb7be9..e9dc918a49386e04dbc644e33db5dd2767d846ac 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -128,18 +128,18 @@ module viz
FaceSeq faces;
};
- enum ModelDrawStyleFlags
+ module ModelDrawStyle
{
- ModelDrawStyle_ORIGINAL = 0,
- ModelDrawStyle_COLLISION = 1,
- ModelDrawStyle_OVERRIDE_COLOR = 2,
+ const int ORIGINAL = 0;
+ const int COLLISION = 1;
+ const int OVERRIDE_COLOR = 2;
};
class ElementRobot extends Element
{
string project;
string filename;
- int drawStyle = ModelDrawStyle_ORIGINAL;
+ int drawStyle = ModelDrawStyle::ORIGINAL;
StringFloatDictionary jointValues;
};