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Code Issues Releases Activity

Moved terrain rendering to background thread

Browse Source 
osgEarth may block the main thread during network io,
the rendering is moved to OsgEarthItemRenderer
class, running in the bg thread.

May require Qt 4.8.0+ to work correctly.
This commit is contained in:
Dmytro Poplavskiy 2012-07-29 22:15:24 +10:00
parent 9d884ca12c
commit c7b8fe9efd
3 changed files with 212 additions and 121 deletions
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1
ground/openpilotgcs/src/app/main.cpp
View File

@ -239,6 +239,7 @@ int main(int argc, char **argv)
setrlimit(RLIMIT_NOFILE, &rl);
#endif
QApplication::setAttribute(Qt::AA_X11InitThreads, true);
QApplication::setGraphicsSystem("raster");
SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);

281
ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
View File

@ -17,6 +17,7 @@
#include "osgearth.h"
#include <QtCore/qfileinfo.h>
#include <QtCore/qthread.h>
#include <QtDeclarative/qdeclarative.h>
#include <QtDeclarative/qdeclarativeview.h>
#include <QtDeclarative/qdeclarativeengine.h>
@ -42,7 +43,8 @@
OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
QDeclarativeItem(parent),
m_fbo(0),
m_renderer(0),
m_rendererThread(0),
m_currentSize(640, 480),
m_roll(0.0),
m_pitch(0.0),
@ -51,8 +53,7 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
m_longitude(153.0),
m_altitude(400.0),
m_fieldOfView(90.0),
m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth")),
m_cameraDirty(false)
m_sceneFile(QLatin1String("/usr/share/osgearth/maps/srtm.earth"))
{
setSize(m_currentSize);
setFlag(ItemHasNoContents, false);
@ -60,6 +61,31 @@ OsgEarthItem::OsgEarthItem(QDeclarativeItem *parent):
OsgEarthItem::~OsgEarthItem()
{
if (m_renderer) {
m_rendererThread->exit();
//wait up to 10 seconds for renderer thread to exit
m_rendererThread->wait(10*1000);
delete m_renderer;
delete m_rendererThread;
}
}
QString OsgEarthItem::resolvedSceneFile() const
{
QString sceneFile = m_sceneFile;
//try to resolve the relative scene file name:
if (!QFileInfo(sceneFile).exists()) {
QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
if (view) {
QUrl baseUrl = view->engine()->baseUrl();
sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
}
}
return sceneFile;
}
void OsgEarthItem::geometryChanged(const QRectF &newGeometry, const QRectF &oldGeometry)
@ -95,107 +121,43 @@ void OsgEarthItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *styl
Q_UNUSED(style);
QGLWidget *glWidget = qobject_cast<QGLWidget*>(widget);
if (!m_glWidget) {
//make a shared gl widget to avoid
//osg rendering to mess with qpainter state
m_glWidget = new QGLWidget(widget, glWidget);
m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
}
if (!m_renderer) {
m_renderer = new OsgEarthItemRenderer(this, glWidget);
connect(m_renderer, SIGNAL(frameReady()),
this, SLOT(updateView()), Qt::QueuedConnection);
if (!m_viewer.get())
QMetaObject::invokeMethod(this, "initScene", Qt::QueuedConnection);
m_rendererThread = new QThread(this);
m_renderer->moveToThread(m_rendererThread);
m_rendererThread->start();
if (glWidget && m_fbo)
glWidget->drawTexture(boundingRect(), m_fbo->texture());
}
void OsgEarthItem::markCameraDirty()
{
m_cameraDirty = true;
QMetaObject::invokeMethod(this, "updateFBO", Qt::QueuedConnection);
}
void OsgEarthItem::updateFBO()
{
if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
QMetaObject::invokeMethod(m_renderer, "initScene", Qt::QueuedConnection);
return;
m_cameraDirty = false;
m_glWidget.data()->makeCurrent();
if (m_fbo && m_fbo->size() != m_currentSize) {
delete m_fbo;
m_fbo = 0;
}
if (!m_fbo) {
m_fbo = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
QPainter p(m_fbo);
p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
}
QGLFramebufferObject *fbo = m_renderer->lastFrame();
//To find a camera view matrix, find placer matrixes for two points
//onr at requested coords and another latitude shifted by 0.01 deg
osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
osg::Matrixd positionMatrix;
placer.createPlacerMatrix(m_latitude, m_longitude, m_altitude, positionMatrix);
osg::Matrixd positionMatrix2;
placer.createPlacerMatrix(m_latitude+0.01, m_longitude, m_altitude, positionMatrix2);
osg::Vec3d eye(0.0f, 0.0f, 0.0f);
osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
eye = positionMatrix.preMult(eye);
upVector = positionMatrix.preMult(upVector);
upVector.normalize();
viewVector = positionMatrix2.preMult(viewVector) - eye;
viewVector.normalize();
viewVector *= 10.0;
//TODO: clarify the correct rotation order,
//currently assuming yaw, pitch, roll
osg::Quat q;
q.makeRotate(-m_yaw*M_PI/180.0, upVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d side = viewVector ^ upVector;
q.makeRotate(m_pitch*M_PI/180.0, side);
upVector = q * upVector;
viewVector = q * viewVector;
q.makeRotate(m_roll*M_PI/180.0, viewVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d center = eye + viewVector;
// qDebug() << "e " << eye.x() << eye.y() << eye.z();
// qDebug() << "c " << center.x() << center.y() << center.z();
// qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
osg::Vec3d(center.x(), center.y(), center.z()),
osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
{
QPainter fboPainter(m_fbo);
fboPainter.beginNativePainting();
m_viewer->frame();
fboPainter.endNativePainting();
}
m_glWidget.data()->doneCurrent();
if (glWidget && fbo)
glWidget->drawTexture(boundingRect(), fbo->texture());
}
void OsgEarthItem::updateView()
{
update();
}
void OsgEarthItem::updateFrame()
{
if (m_renderer) {
m_renderer->markDirty();
QMetaObject::invokeMethod(m_renderer, "updateFrame", Qt::QueuedConnection);
}
}
void OsgEarthItem::setRoll(qreal arg)
{
if (!qFuzzyCompare(m_roll, arg)) {
m_roll = arg;
markCameraDirty();
updateFrame();
emit rollChanged(arg);
}
}
@ -204,7 +166,7 @@ void OsgEarthItem::setPitch(qreal arg)
{
if (!qFuzzyCompare(m_pitch, arg)) {
m_pitch = arg;
markCameraDirty();
updateFrame();
emit pitchChanged(arg);
}
}
@ -213,7 +175,7 @@ void OsgEarthItem::setYaw(qreal arg)
{
if (!qFuzzyCompare(m_yaw, arg)) {
m_yaw = arg;
markCameraDirty();
updateFrame();
emit yawChanged(arg);
}
}
@ -250,14 +212,15 @@ void OsgEarthItem::setFieldOfView(qreal arg)
m_fieldOfView = arg;
emit fieldOfViewChanged(arg);
if (m_viewer.get()) {
//it should be a queued call to OsgEarthItemRenderer instead
/*if (m_viewer.get()) {
m_viewer->getCamera()->setProjectionMatrixAsPerspective(
m_fieldOfView,
qreal(m_currentSize.width())/m_currentSize.height(),
1.0f, 10000.0f);
}
}*/
markCameraDirty();
updateFrame();
}
}
@ -269,27 +232,51 @@ void OsgEarthItem::setSceneFile(QString arg)
}
}
void OsgEarthItem::initScene()
OsgEarthItemRenderer::OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget) :
QObject(0),
m_item(item),
m_lastFboNumber(0),
m_currentSize(640, 480),
m_cameraDirty(false)
{
if (m_viewer.get())
return;
//make a shared gl widget to avoid
//osg rendering to mess with qpainter state
//this runs in the main thread
m_glWidget = new QGLWidget(0, glWidget);
m_glWidget.data()->setAttribute(Qt::WA_PaintOutsidePaintEvent);
for (int i=0; i<FboCount; i++) {
m_fbo[i] = new QGLFramebufferObject(m_currentSize, QGLFramebufferObject::CombinedDepthStencil);
QPainter p(m_fbo[i]);
p.fillRect(0,0,m_currentSize.width(), m_currentSize.height(), Qt::gray);
}
}
OsgEarthItemRenderer::~OsgEarthItemRenderer()
{
m_glWidget.data()->makeCurrent();
for (int i=0; i<FboCount; i++) {
delete m_fbo[i];
m_fbo[i] = 0;
}
m_glWidget.data()->doneCurrent();
delete m_glWidget.data();
}
QGLFramebufferObject *OsgEarthItemRenderer::lastFrame()
{
return m_fbo[m_lastFboNumber];
}
void OsgEarthItemRenderer::initScene()
{
Q_ASSERT(!m_viewer.get());
int w = m_currentSize.width();
int h = m_currentSize.height();
QString sceneFile = m_sceneFile;
//try to resolve the relative scene file name:
if (!QFileInfo(sceneFile).exists()) {
QDeclarativeView *view = qobject_cast<QDeclarativeView*>(scene()->views().first());
if (view) {
QUrl baseUrl = view->engine()->baseUrl();
sceneFile = baseUrl.resolved(sceneFile).toLocalFile();
}
}
QString sceneFile = m_item->resolvedSceneFile();
m_model = osgDB::readNodeFile(sceneFile.toStdString());
//setup caching
@ -320,8 +307,76 @@ void OsgEarthItem::initScene()
// configure the near/far so we don't clip things that are up close
camera->setNearFarRatio(0.00002);
camera->setProjectionMatrixAsPerspective(m_fieldOfView, qreal(w)/h, 1.0f, 10000.0f);
camera->setProjectionMatrixAsPerspective(m_item->fieldOfView(), qreal(w)/h, 1.0f, 10000.0f);
markCameraDirty();
updateFrame();
}
void OsgEarthItemRenderer::updateFrame()
{
if (!m_cameraDirty || !m_viewer.get() || m_glWidget.isNull())
return;
m_glWidget.data()->makeCurrent();
//To find a camera view matrix, find placer matrixes for two points
//onr at requested coords and another latitude shifted by 0.01 deg
osgEarth::Util::ObjectPlacer placer(m_viewer->getSceneData());
m_cameraDirty = false;
osg::Matrixd positionMatrix;
placer.createPlacerMatrix(m_item->latitude(), m_item->longitude(), m_item->altitude(), positionMatrix);
osg::Matrixd positionMatrix2;
placer.createPlacerMatrix(m_item->latitude()+0.01, m_item->longitude(), m_item->altitude(), positionMatrix2);
osg::Vec3d eye(0.0f, 0.0f, 0.0f);
osg::Vec3d viewVector(0.0f, 0.0f, 0.0f);
osg::Vec3d upVector(0.0f, 0.0f, 1.0f);
eye = positionMatrix.preMult(eye);
upVector = positionMatrix.preMult(upVector);
upVector.normalize();
viewVector = positionMatrix2.preMult(viewVector) - eye;
viewVector.normalize();
viewVector *= 10.0;
//TODO: clarify the correct rotation order,
//currently assuming yaw, pitch, roll
osg::Quat q;
q.makeRotate(-m_item->yaw()*M_PI/180.0, upVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d side = viewVector ^ upVector;
q.makeRotate(m_item->pitch()*M_PI/180.0, side);
upVector = q * upVector;
viewVector = q * viewVector;
q.makeRotate(m_item->roll()*M_PI/180.0, viewVector);
upVector = q * upVector;
viewVector = q * viewVector;
osg::Vec3d center = eye + viewVector;
// qDebug() << "e " << eye.x() << eye.y() << eye.z();
// qDebug() << "c " << center.x() << center.y() << center.z();
// qDebug() << "up" << upVector.x() << upVector.y() << upVector.z();
m_viewer->getCamera()->setViewMatrixAsLookAt(osg::Vec3d(eye.x(), eye.y(), eye.z()),
osg::Vec3d(center.x(), center.y(), center.z()),
osg::Vec3d(upVector.x(), upVector.y(), upVector.z()));
{
QGLFramebufferObject *fbo = m_fbo[(m_lastFboNumber + 1) % FboCount];
QPainter fboPainter(fbo);
fboPainter.beginNativePainting();
m_viewer->frame();
fboPainter.endNativePainting();
}
m_glWidget.data()->doneCurrent();
m_lastFboNumber = (m_lastFboNumber + 1) % FboCount;
emit frameReady();
}

51
ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
View File

@ -24,6 +24,7 @@
class QGLFramebufferObject;
class QGLWidget;
class OsgEarthItemRenderer;
class OsgEarthItem : public QDeclarativeItem
{
@ -46,6 +47,7 @@ public:
~OsgEarthItem();
QString sceneFile() const { return m_sceneFile; }
QString resolvedSceneFile() const;
qreal fieldOfView() const { return m_fieldOfView; }
qreal roll() const { return m_roll; }
@ -61,6 +63,7 @@ protected:
void paint(QPainter *painter, const QStyleOptionGraphicsItem *style, QWidget *widget);
public slots:
void updateView();
void setSceneFile(QString arg);
void setFieldOfView(qreal arg);
@ -85,16 +88,12 @@ signals:
void fieldOfViewChanged(qreal arg);
private slots:
void markCameraDirty();
void updateFBO();
void initScene();
void updateFrame();
private:
osg::ref_ptr<osgViewer::Viewer> m_viewer;
osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
osg::ref_ptr<osg::Node> m_model;
QWeakPointer<QGLWidget> m_glWidget;
QGLFramebufferObject *m_fbo;
OsgEarthItemRenderer *m_renderer;
QThread *m_rendererThread;
QSize m_currentSize;
qreal m_roll;
@ -108,6 +107,42 @@ private:
qreal m_fieldOfView;
QString m_sceneFile;
};
class OsgEarthItemRenderer : public QObject
{
Q_OBJECT
public:
OsgEarthItemRenderer(OsgEarthItem *item, QGLWidget *glWidget);
~OsgEarthItemRenderer();
QGLFramebufferObject *lastFrame();
void markDirty() { m_cameraDirty = true; }
public slots:
void initScene();
void updateFrame();
signals:
void frameReady();
private slots:
void updateFBO();
private:
enum { FboCount = 3 };
OsgEarthItem *m_item;
osg::ref_ptr<osgViewer::Viewer> m_viewer;
osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> m_gw;
osg::ref_ptr<osg::Node> m_model;
QWeakPointer<QGLWidget> m_glWidget;
QGLFramebufferObject* m_fbo[FboCount];
int m_lastFboNumber;
QSize m_currentSize;
bool m_cameraDirty;
};