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Make Gazebo aware of SetCameraPassCountPerGpuFlush #921

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merged 6 commits into from
Jul 22, 2021
Merged

Make Gazebo aware of SetCameraPassCountPerGpuFlush #921

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dfa8b59
Call Scene::PostRenderGpuFlush
darksylinc May 16, 2021
b63aae9
Update to use the renamed PostRender call
darksylinc May 24, 2021
4db847a
Avoid warnings from Legacy mode
darksylinc May 29, 2021
73db696
Default to SetNumCameraPassesPerGpuFlush = 6
darksylinc May 31, 2021
a4ea20f
Rename SetNumCameraPassesPerGpuFlush -> SetCameraPassCountPerGpuFlush
darksylinc Jun 6, 2021
7f013fc
Style changes
darksylinc Jul 19, 2021
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2 changes: 2 additions & 0 deletions src/gui/plugins/scene3d/Scene3D.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2019,6 +2019,8 @@ void IgnRenderer::Initialize()

auto root = scene->RootVisual();

scene->SetCameraPassCountPerGpuFlush(6u);

// Camera
this->dataPtr->camera = scene->CreateCamera();
root->AddChild(this->dataPtr->camera);
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10 changes: 10 additions & 0 deletions src/systems/sensors/Sensors.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -196,6 +196,7 @@ void SensorsPrivate::WaitForInit()
igndbg << "Initializing render context" << std::endl;
this->renderUtil.Init();
this->scene = this->renderUtil.Scene();
this->scene->SetCameraPassCountPerGpuFlush(6u);
this->initialized = true;
}

Expand Down Expand Up @@ -262,6 +263,15 @@ void SensorsPrivate::RunOnce()
// publish data
IGN_PROFILE("RunOnce");
this->sensorManager.RunOnce(this->updateTime);
}

{
IGN_PROFILE("PostRender");
// Update the scene graph manually to improve performance
// We only need to do this once per frame It is important to call
// sensors::RenderingSensor::SetManualSceneUpdate and set it to true
// so we don't waste cycles doing one scene graph update per sensor
this->scene->PostRender();
this->eventManager->Emit<events::PostRender>();
}

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