Make Gazebo aware of SetCameraPassCountPerGpuFlush (#921)

* Call Scene::PostRenderGpuFlush Requires ign-rendering update to compile correctly Affects gazebosim/gz-rendering#323 Signed-off-by: Matias N. Goldberg <[email protected]> * Update to use the renamed PostRender call Signed-off-by: Matias N. Goldberg <[email protected]> * Avoid warnings from Legacy mode Signed-off-by: Matias N. Goldberg <[email protected]> * Default to SetNumCameraPassesPerGpuFlush = 6 Signed-off-by: Matias N. Goldberg <[email protected]> * Rename SetNumCameraPassesPerGpuFlush -> SetCameraPassCountPerGpuFlush Signed-off-by: Matias N. Goldberg <[email protected]> * Style changes Signed-off-by: Matias N. Goldberg <[email protected]>
gazebosim · Jul 22, 2021 · b08d63c · b08d63c
1 parent c07b49c
commit b08d63c
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diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc
@@ -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);

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -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;
     }
 
@@ -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>();
     }