Changeset 2709 for GTP/trunk/Lib/Vis/Preprocessing/src

Timestamp:

05/26/08 01:05:56 (17 years ago)

Author:

mattausch

Message:

sheduling dynamic object only when necessary

Location:

GTP/trunk/Lib/Vis/Preprocessing/src

Files:

• CombinedPreprocessor.cpp (modified) (2 diffs)
• GlRenderer.cpp (modified) (8 diffs)
• GlRenderer.h (modified) (3 diffs)
• GtpVisibility05.vcproj (modified) (2 diffs)
• Preprocessor.cpp (modified) (10 diffs)
• Preprocessor.h (modified) (3 diffs)
• PvsBase.h (modified) (1 diff)
• QtInterface/QtGlRenderer.cpp (modified) (40 diffs)
• QtInterface/QtGlRenderer.h (modified) (4 diffs)
• QtInterface/QtGlViewer.cpp (modified) (3 diffs)
• SamplingPreprocessor.cpp (modified) (2 diffs)
• SceneGraph.cpp (modified) (5 diffs)
• SceneGraph.h (modified) (3 diffs)
• SepPlanesBox3.cpp (modified) (3 diffs)
• main.cpp (modified) (2 diffs)

GTP/trunk/Lib/Vis/Preprocessing/src/CombinedPreprocessor.cpp

@@ -13 +13 @@
 #include "CombinedPreprocessor.h"
 #include "RayCaster.h"
-
+#include <windows.h> 
 
 
@@ -79 +79 @@
 
   for (mCurrentSamples =0; mCurrentSamples < mTotalSamples; mCurrentSamples += mSamplesPerPass, mPass++) {
+          while (mSynchronize)
+          {
+                  // hack: sleep during walthrough computation
+                  Sleep(1000);
+          }
+
         mRayCaster->InitPass();
         

GTP/trunk/Lib/Vis/Preprocessing/src/GlRenderer.cpp

@@ -447 +447 @@
 
         glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
-
         glEnable(GL_NORMALIZE);
-
         glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
 
@@ -916 +914 @@
                 {
                         char filename[256];
-                        sprintf(filename, "snap/frame-%04d-%d.png", mFrame, i);
+                        sprintf_s(filename, "snap/frame-%04d-%d.png", mFrame, i);
                         //                QImage im = toImage();
                         //                im.save(filename, "PNG");
@@ -923 +921 @@
                 // evaluate the sample
                 if (useOcclusionQueries) 
-                {
                         EvalQueryWithOcclusionQueries();
-                }
                 else 
-                {
                         EvalQueryWithItemBuffer();
-                }
         }  
 
@@ -1452 +1446 @@
         for (int i = 0; i < depthMapSize * depthMapSize; ++ i)
         {
-                //todo glGetTexImage()
+                // TODO (use glGetTexImage())
         }
 }
@@ -1506 +1500 @@
                         int pvsSize;
 
-                        mPvsErrorBuffer[i].mError = GetPixelError(pvsSize);
+                        mPvsErrorBuffer[i].mError = GetPixelError(pvsSize, 0);
                         mPvsErrorBuffer[i].mPvsSize = pvsSize;
 
@@ -1566 +1560 @@
 {
         mPvsStat.Reset();
+        ++ mPvsStat.pass;
 
         SetupProjection(GetWidth(), GetHeight());
@@ -1591 +1586 @@
                 {
                         // compute the pixel error
-                        mPvsErrorBuffer[i].mError = GetPixelError(pvsSize);
+                        mPvsErrorBuffer[i].mError = GetPixelError(pvsSize, mPvsStat.pass);
                         mPvsErrorBuffer[i].mPvsSize = pvsSize;
 
@@ -1700 +1695 @@
 
 
-float GlRenderer::GetPixelError(int &pvsSize)
+float GlRenderer::GetPixelError(int &pvsSize, int pass)
 {
         return -1.0f;

GTP/trunk/Lib/Vis/Preprocessing/src/GlRenderer.h

@@ -42 +42 @@
   int frames;
   int errorFreeFrames;
-
-  PvsRenderStatistics() { Reset(); }
+  int pass;
+
+  PvsRenderStatistics(): pass(0) { Reset(); }
   
   void Reset() 
@@ -169 +170 @@
   virtual bool ValidViewPoint();
   
-  virtual float GetPixelError(int &pvsSize);
+  /** Gets the pixel error of the current view point. 
+     returns the size of the pvs for the current view point. pass returns the 
+         current pass of the evaluation.
+         */
+  virtual float GetPixelError(int &pvsSize, int pass);
   
   virtual void EvalPvsStat();
@@ -185 +190 @@
   virtual void InitGL();
 
-  virtual int GetWidth() const { return 0; }
-  virtual int GetHeight() const { return 0; }
+  virtual int GetWidth() const {return 0;}
+  virtual int GetHeight() const {return 0;}
 
   unsigned int GetId(const unsigned char r, 

GTP/trunk/Lib/Vis/Preprocessing/src/GtpVisibility05.vcproj

@@ -898 +898 @@
                                 </File>
                                 <File
+                                        RelativePath=".\SepPlanesBox3.h"
+                                        >
+                                </File>
+                                <File
                                         RelativePath=".\SimpleRay.h"
                                         >
@@ -1081 +1085 @@
                                 <File
                                         RelativePath=".\SceneGraph.cpp"
+                                        >
+                                </File>
+                                <File
+                                        RelativePath=".\SepPlanesBox3.cpp"
                                         >
                                 </File>

GTP/trunk/Lib/Vis/Preprocessing/src/Preprocessor.cpp

@@ -58 +58 @@
 mGlobalLinesRenderer(NULL),
 mUseHwGlobalLines(false),
-mTotalRaysCast(0)
+mTotalRaysCast(0),
+mSynchronize(false)
 {
         Environment::GetSingleton()->GetBoolValue("Preprocessor.useGlRenderer", mUseGlRenderer);
@@ -665 +666 @@
                 // load scene objects which are the entities used as pvs entries
                 ObjectContainer pvsObjects;
-                if (0) LoadObjects(buf, pvsObjects, mObjects);
+                if (1) LoadObjects(buf, pvsObjects, mObjects);
 
                 const bool finalizeViewCells = true;
@@ -746 +747 @@
 
         mViewCellsManager->SetRenderer(mRenderSimulator);
-        
         mViewCellsManager->SetPreprocessor(this);
 
@@ -838 +838 @@
         
     Vector3 origin, termination;
-        // HACK: needed only for lower_bound algorithm to find the 
-        // intersected objects
+        // HACK: needed only for lower_bound algorithm to find the intersected objects
         MeshInstance sObj(NULL);
         MeshInstance tObj(NULL);
@@ -1452 +1451 @@
 Preprocessor::ComputeRenderError()
 {
-  // compute rendering error
-        
+  // compute rendering error    
   if (renderer && renderer->mPvsStatFrames) {
         
@@ -1596 +1594 @@
         mDynamicObjects.push_back(leaf);
 
-        // add to scene graph
-        mSceneGraph->GetRoot()->mChildren.push_back(leaf);
-
-        if (mRayCaster)
-                mRayCaster->AddDynamicObjecs(leaf->mGeometry, leaf->GetTransformation());
+        // tell ray caster to update
+        ScheduleUpdateDynamicObjects();
+
+        if (0) 
+        {
+                // add to scene graph
+                mSceneGraph->GetRoot()->mChildren.push_back(leaf);
+                // add to ray caster
+                if (mRayCaster)
+                        mRayCaster->AddDynamicObjecs(leaf->mGeometry, leaf->GetTransformation());
+        }
         // $$ JB in order to compile
         //return leaf;
@@ -1646 +1650 @@
 
                 leaf->UpdateBox();
+
+                float offs = -leaf->GetOriginalBox().Min().y;
+
+                // scale so pivot is always on bottom
+                for (it = leaf->mGeometry.begin(); it != it_end; ++ it)
+                {
+                        TriangleIntersectable *tri = static_cast<TriangleIntersectable *>(*it);
+
+                        Triangle3 t = tri->GetItem();
+
+                        // hack: scale object appropriately
+                        t.mVertices[0].y += offs;
+                        t.mVertices[1].y += offs;
+                        t.mVertices[2].y += offs;
+
+                        tri->SetItem(t);
+                }
+
+                leaf->UpdateBox();
+
+
                 cout<<"Dynamic object loaded successfully: " << leaf->GetBox() << endl;
 
@@ -1709 +1734 @@
 
 
+void Preprocessor::ObjectRemoved(SceneGraphLeaf *leaf)
+{
+        ObjectMoved(leaf);
+}
+
+
 void Preprocessor::UpdateDynamicObjects()
 {
@@ -1716 +1747 @@
                 preprocessor->mRayCaster->DeleteDynamicObjects();
         
-                for (size_t i=0; i < mDynamicObjects.size(); ++ i) 
+                for (size_t i = 0; i < mDynamicObjects.size(); ++ i) 
                 {
                         SceneGraphLeaf *l = mDynamicObjects[i];
-                  
-                        cout<<"Updating dynamic objects in ray caster..."<<endl;
-                  
-                        mRayCaster->AddDynamicObjecs(l->mGeometry, l->GetTransformation());
-                        
-                        cout<<"done."<<endl;
-                        
-                        cerr<<"Updating affected PVSs..."<<endl;
-                        preprocessor->ObjectMoved(l);
-                        cerr<<"done."<<endl;      
+
+                        UpdateObjectInRayCaster(l);
+
+                        if (l->HasChanged())
+                        {
+                                cout<<"Updating affected PVSs..."<<endl;
+                                preprocessor->ObjectMoved(l);
+                                cout<<"done."<<endl;    
+                                l->SetHasChanged(false);
+                        }
                 }
         
                 mUpdateDynamicObjects = false;
-        
         }
 }
@@ -1739 +1769 @@
 void Preprocessor::ScheduleUpdateDynamicObjects()
 {
-                mUpdateDynamicObjects = true;
-}
-
-
-}
+        mUpdateDynamicObjects = true;
+}
+
+
+void Preprocessor::UpdateObjectInRayCaster(SceneGraphLeaf *l)
+{
+        cout<<"Updating dynamic objects in ray caster..."<<endl;
+
+        mRayCaster->AddDynamicObjecs(l->mGeometry, l->GetTransformation());
+        cout<<"done."<<endl;
+}
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/Preprocessor.h

@@ -200 +200 @@
         void RegisterDynamicObject(SceneGraphLeaf *leaf);
         
+        void UpdateObjectInRayCaster(SceneGraphLeaf *l);
+        
+        void ScheduleUpdateDynamicObjects();
+        void UpdateDynamicObjects();
+        /** Notify the preprocessor that an object has been deleted
+        */
+        virtual void ObjectRemoved(SceneGraphLeaf *object);
+
 
 
         /////////////////////////
+
+        bool mSynchronize;
 
         /// scene graph loaded from file
@@ -277 +287 @@
         RayCaster *mRayCaster;
 
-        int mGenericStats[2];
-
-        void ScheduleUpdateDynamicObjects();
-        void UpdateDynamicObjects();
-
-        /// triangle pvs for gvs 
+        // triangle pvs for gvs 
         // hack: should be in gvspreprocessor but pulled 
         // out here for visualization purpose
         ObjectContainer mTrianglePvs;
+
+        // generic stats vector that can be used for anything
+        int mGenericStats[2];
 
         //std::vector<int> mDummyBuffer;
@@ -309 +317 @@
         */
         virtual void ObjectMoved(SceneGraphLeaf *object);
-
+        
 
 

GTP/trunk/Lib/Vis/Preprocessing/src/PvsBase.h

@@ -306 +306 @@
                 // the last part should not be more than log of the sorted part. this
                 // way we can achieve logarithmic behaviour for insertion and find
-                const int n = mEntries.size();
+                const int n = (int)mEntries.size();
                 const int dirtySize = n - mLastSorted;
 
                 const double LOG2E = 1.442695040f;
 
-                const float logN = (float)log((float) Max(1, n))/LOG2E;
-                const float logS = (float)log((float) Max(1, mLastSorted))/LOG2E;
-                const float logD = (float)log((float) Max(1, dirtySize))/LOG2E;
+                const float logN = log((float) Max(1, n))/ (float)LOG2E;
+                const float logS = log((float) Max(1, mLastSorted))/ (float)LOG2E;
+                const float logD = log((float) Max(1, dirtySize))/ (float)LOG2E;
 
                 if (8*(n + 2*dirtySize*logD) <

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlRenderer.cpp

@@ -50 +50 @@
 QtGlDebuggerWidget *debuggerWidget = NULL;
 
-const static int SAMPLES_INCR = 2000000;
 
 
 static SimpleRayContainer sViewPointsList;
 static SimpleRayContainer::const_iterator sViewPointsListIt;
-
+static int sCurrentSamples = 0;
+static int sNextSamplesThreshold[] = {10000000, 50000000, 100000000, 250000000};
+//static int sNextSamplesThreshold[] = {100000000, 200000000};
+static int sNumReplays = 4;
+static int sCurrentSamplesThreshold = 0;
 
 
@@ -125 +128 @@
                                                                            KdTree *tree):
 QGLPixelBuffer(QSize(w, h), 
-                           QGLFormat(QGL::StencilBuffer | 
+                           QGLFormat(QGL::SampleBuffers)
+                           /*,|
+                                                 QGL::StencilBuffer | 
                                                  QGL::DepthBuffer | 
                                                  QGL::DoubleBuffer |
                                                  QGL::Rgba)
-                                                 ),
+                                                 */),
 GlRendererBuffer(sceneGraph, viewcells, tree)
 {
@@ -190 +195 @@
 
 // reimplemented here so that we can snap the error windows
-float QtGlRendererBuffer::GetPixelError(int &pvsSize)
+float QtGlRendererBuffer::GetPixelError(int &pvsSize, int pass)
 {
         MakeLive();
@@ -237 +242 @@
 
         // use shading
-        if (mSnapErrorFrames)
-        {
+        if (1)//mSnapErrorFrames)
+        {
+                glEnable(GL_NORMALIZE);
+
+                // mat_specular and mat_shininess are NOT default values
+        GLfloat mat_ambient[] = {0.5f, 0.5f, 0.5f, 1.0f};
+        GLfloat mat_diffuse[] = {1.0f, 1.0f, 1.0f, 1.0f};
+        GLfloat mat_specular[] = {0.3f, 0.3f, 0.3f, 1.0f};
+        GLfloat mat_shininess[] = {1.0f};
+
+        glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
+        glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
+        glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
+        glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
+
                 GLfloat light_ambient[] = {0.3, 0.3, 0.3, 1.0};
+                //GLfloat light_diffuse[] = {0.6, 0.6, 0.6, 1.0};
                 GLfloat light_diffuse[] = {0.6, 0.6, 0.6, 1.0};
                 GLfloat light_specular[] = {1.0, 1.0, 1.0, 1.0};
 
+                glEnable(GL_LIGHTING);
                 //GLfloat light_position[] =  {278.0f, 548.8f,279.0f, 1.0f};
-                GLfloat light_position[] =  {0.f,0.f,0.f, 1.0f};
+                //GLfloat light_position[] =  {0.f, 0.f, 0.f, 1.0f};
+                GLfloat light_position[] =  {0.f, 0.0f, 0.f, 1.0f};
 
                 glEnable(GL_LIGHT0); 
@@ -252 +273 @@
                 glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
                 glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
-
-                glEnable(GL_LIGHTING);
                 glLightfv (GL_LIGHT0, GL_POSITION, light_position);
 
                 glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-                glEnable(GL_COLOR_MATERIAL);
+                //glEnable(GL_COLOR_MATERIAL);
+
+                GLfloat lmodel_ambient[] = {0.3f, 0.3f, 0.3f, 1.0f};
+                glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
 
                 glShadeModel(GL_SMOOTH);
         }
 
-        glDisable(GL_ALPHA_TEST);
+        //glDisable(GL_ALPHA_TEST);
                 
         glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
 
-        //glColorMask(GL_FALSE, GL_TRUE, GL_FALSE, GL_TRUE);
-        glColor3f(0, 1, 0);
+        glColor3f(0.6f, 0.6f, 0.6f);
+        //glColor3f(0, 1, 0);
 
         glDepthFunc(GL_LESS);
@@ -274 +296 @@
         glEnable(GL_DEPTH_TEST);
 
+        glFrontFace(GL_CCW);
+        glCullFace(GL_BACK);
+
         glStencilFunc(GL_EQUAL, 0x0, 0x1);
         glStencilOp(GL_KEEP, GL_KEEP, GL_INCR); 
@@ -301 +326 @@
         query->BeginQuery();
 
+        // current frame has to be increased at each rendering pass
         ++ mCurrentFrame;
 
@@ -317 +343 @@
 
         // some error happened
-        if (pixelCount > pixelThres) 
+        if (1) // pixelCount > pixelThres) 
         {
                 cout << "f " << mFrame << " id " << viewcell->GetId() << " pvs " << pvsSize 
                          << " e " << pixelCount << " vp " << mViewPoint << " vd " << mViewDirection << endl;
         
+                format().setSampleBuffers(true);
+                cout << "here3 " << format().sampleBuffers() << endl;
                 if (mSnapErrorFrames) 
                 {
@@ -327 +355 @@
                         //glReadBuffer(GL_FRONT);
 
-
                         //////////////
                         //-- output error visualization
 
                         char filename[256];
-                        //sprintf(filename, "error-frame-%04d-%0.5f.png", mFrame, pErrorPixels);
-                        sprintf(filename, "error-frame-%04d-%04d-%08d.png", mFrame, viewcell->GetId(), pixelCount);
+                        sprintf(filename, "error-frame-%04d-%05d.bmp", pass, mFrame);
+                        //sprintf(filename, "error-frame-%05d-%0.5f.png", mFrame, pErrorPixels);
+                        //sprintf_s(filename, "error-frame-%05d-%04d-%08d.png", mFrame, viewcell->GetId(), pixelCount);
+
                         QImage im = toImage();
                         string str = mSnapPrefix + filename;
                         QString qstr(str.c_str());
 
-                        im.save(qstr, "PNG");
+                        //im.save(qstr, "PNG");
+                        // use bmp for lossless storage (for video)
+                        im.save(qstr, "BMP");
 
                         if (0)
@@ -367 +398 @@
 
                                 im = toImage();
-                                sprintf(filename, "error-frame-%04d-%04d-%08d-pvs.png", mFrame, viewcell->GetId(), pixelCount);
+                                sprintf_s(filename, "error-frame-%04d-%04d-%08d-pvs.png", mFrame, viewcell->GetId(), pixelCount);
                                 str = mSnapPrefix + filename;
                                 qstr = str.c_str();
@@ -433 +464 @@
         //glEnable(GL_FOG);
         //glFogi(GL_FOG_MODE, GL_EXP);
+        //glFogf(GL_FOG_DENSITY, .2f);
         glFogi(GL_FOG_MODE, GL_LINEAR);
-
-//      glFogf(GL_FOG_DENSITY, .2f);
         glFogf(GL_FOG_START, 50.f);
         glFogf(GL_FOG_END, 500.f);
 
-        GLfloat light_ambient[] = {0.3, 0.3, 0.3, 1.0};
-    GLfloat light_diffuse[] = {0.6, 0.6, 0.6, 1.0};
-    GLfloat light_specular[] = {1.0, 1.0, 1.0, 1.0};
-    GLfloat light_position[] =  //{278.0f, 548.8f,279.0f, 1.0f };
-    { 0.f,0.f,0.f,1.0f };
-
-    /*glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
-    glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
-    glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
-    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
-*/
-    glEnable(GL_LIGHT0); 
-
+        
+        // mat_specular and mat_shininess are NOT default values
         GLfloat mat_ambient[] = {0.5f, 0.5f, 0.5f, 1.0f};
-        
-        // mat_specular and mat_shininess are NOT default values
         GLfloat mat_diffuse[] = {1.0f, 1.0f, 1.0f, 1.0f};
         GLfloat mat_specular[] = {0.3f, 0.3f, 0.3f, 1.0f};
         GLfloat mat_shininess[] = {1.0f};
 
-/*      GLfloat light_ambient[] = {0.2f, 0.2f, 0.2f, 1.0f};
-        GLfloat light_diffuse[] = {0.4f, 0.4f, 0.4f, 1.0f};
-        GLfloat light_specular[] = {0.3f, 0.3f, 0.3f, 1.0f};
-
-        GLfloat lmodel_ambient[] = {0.3f, 0.3f, 0.3f, 1.0f};
-*/
-
-        // default Material
         glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
         glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
@@ -472 +481 @@
         glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
 
-        // a light
+
+        glEnable(GL_LIGHTING);
+
+        // a light      
+        GLfloat light_ambient[] = {0.3, 0.3, 0.3, 1.0};
+    GLfloat light_diffuse[] = {0.6, 0.6, 0.6, 1.0};
+    GLfloat light_specular[] = {1.0, 1.0, 1.0, 1.0};
+    GLfloat light_position[] =  {0.f, .0f, 0.f, 1.0f};
+    //GLfloat light_position[] =  {600.0f, 250.0f, -500.f, 1.0f};
+    //GLfloat light_position[] = {278.0f, 548.8f,279.0f, 1.0f};
+
         glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
         glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
         glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
 
-        /*glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
+        glLightfv(GL_LIGHT0, GL_POSITION, light_position);
+
+        //glDisable(GL_LIGHT0);
+        glEnable(GL_LIGHT0);
+
+        glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
         glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
         glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
-*/
-        //glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
-
-        glEnable(GL_LIGHTING);
-        glEnable(GL_LIGHT0);
-//      glEnable(GL_LIGHT1);
-
-        // set position of the light
-        /*GLfloat infinite_light[] = {  1.0, 0.8, 1.0, 0.0  };
-        glLightfv (GL_LIGHT0, GL_POSITION, infinite_light);
-
+                
         // set position of the light2
         GLfloat infinite_light2[] = {  -0.3, 1.5, 1.0, 0.0  };
         glLightfv (GL_LIGHT1, GL_POSITION, infinite_light2);
-*/
-        glLightfv (GL_LIGHT0, GL_POSITION, light_position);
-
-        glColorMaterial( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-        // glColorMaterial( GL_FRONT_AND_BACK, GL_SPECULAR);
+        //glEnable(GL_LIGHT1);
+
+        GLfloat lmodel_ambient[] = {0.3f, 0.3f, 0.3f, 1.0f};
+        glLightModelfv(GL_LIGHT_MODEL_AMBIENT, lmodel_ambient);
+
+        glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+        //glColorMaterial(GL_FRONT_AND_BACK, GL_SPECULAR);
         glEnable(GL_COLOR_MATERIAL);
 
@@ -568 +584 @@
         dit, dit_end = p->mDynamicObjects.end();
 
-        for (dit = p->mDynamicObjects.begin(); dit != dit_end; ++ dit)
-        {
-                glColor3f(0, 1, 0);
+        int i = 0;
+        for (dit = p->mDynamicObjects.begin(); dit != dit_end; ++ dit, ++ i)
+        {
+                if (i == mCurrentDynamicObjectIdx)
+                        glColor3f(1, 0, 1);
+                else
+                        glColor3f(0, 1, 0);
+
                 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
                 _RenderDynamicObject(*dit);
                 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
         }
-
-        //_RenderDynamicObject(mPendingDynamicObject);
 }
 
@@ -692 +711 @@
                         mWireFrame = false;
                 }
-                
-                //mCurrentPvsCost = viewcell->GetPvs().EvalPvsCost();
         } 
         else 
@@ -722 +739 @@
 
         glEnable(GL_STENCIL_TEST); 
-
         glDisable(GL_LIGHTING);
 
@@ -770 +786 @@
                         cout << "stopping replay" << endl;
                         mReplayMode = false;
+                        GetPreprocessor()->mSynchronize = false;
                 }
                 else
@@ -781 +798 @@
                 }
 
-
                 updateGL();
-        }
-
-        if (timerEvent->timerId() == mUpdateTimerId)
+
+                // output the current frame buffer
+                if (mExportFrameBuffer)
+                {
+                        const int dist = sViewPointsListIt - sViewPointsList.begin();
+
+                        char filename[200];
+                        sprintf(filename, "error-frame-%04d-%05d.bmp", sCurrentSamples, dist);
+                        //QPixmap img = renderPixmap(0, 0, true);
+                        QImage im = grabFrameBuffer();
+
+                        string str = mSnapPrefix + filename;
+                        QString qstr(str.c_str());
+
+                        //im.save(qstr, "PNG");
+                        // use bmp for lossless storage (for video)
+                        im.save(qstr, "BMP");
+                }
+        }
+        else if (timerEvent->timerId() == mUpdateTimerId)
+                // update pvss from time to time
                 update();
+
+        // grab frame buffer after a certain number of samples
+        if (!mReplayMode && 
+                (sCurrentSamplesThreshold < sNumReplays) && 
+                ((GetPreprocessor()->mCurrentSamples > sNextSamplesThreshold[sCurrentSamplesThreshold])))
+        {
+                ++ sCurrentSamplesThreshold;
+                cout << "replaying at total samples: " << GetPreprocessor()->mCurrentSamples << endl;
+                ReplayViewPoints();
+        }
+
 }
 
@@ -803 +848 @@
                 {
                         Vector3 pt = Unproject(x, y);
-                        cout << "unproject: " << pt << endl;
 
                         mPlacer->PlaceObject(pt);
@@ -813 +857 @@
                         SceneGraphLeaf *newObj = new SceneGraphLeaf(*leaf);
 
-                        mViewCellsManager->GetPreprocessor()->RegisterDynamicObject(newObj);
-                        //mPendingDynamicObjects.push_back();
+                        // make current object
+                        // the object is added at the end of the vector
+                        mCurrentDynamicObjectIdx = (int)GetPreprocessor()->mDynamicObjects.size();
+
+                        GetPreprocessor()->RegisterDynamicObject(newObj);
                 }
         }
@@ -828 +875 @@
         mousePoint.y = y;
 
-        if (e->modifiers() & Qt::AltModifier) 
+        if (e->modifiers() & Qt::ShiftModifier) 
         {
                 const Vector3 pt = Unproject(x, y);
@@ -834 +881 @@
                 int idx = FindDynamicObject(x, y);
                 
-                Preprocessor *p = GetPreprocessor();
-
-                swap(p->mDynamicObjects[idx], p->mDynamicObjects.back());
-                p->mDynamicObjects.pop_back();
-                //preprocessor->ScheduleUpdateDynamicObjects();
+                if (idx >= 0)
+                {
+                        mCurrentDynamicObjectIdx = idx;
+                }
         }
 }
@@ -865 +911 @@
                 mViewPoint.x += (x-mousePoint.x)*MOVE_SENSITIVITY / 2.0;
         }
-#if 0// DYNAMIC_OBJECTS_HACK
         else if (e->modifiers() & Qt::AltModifier)
         {
@@ -896 +941 @@
                         case 2:
                                 {
-                                  // tm = RotationXMatrix(diffx) * RotationYMatrix(diffy);
-                                  tm = RotationYMatrix(diffx);
+                                        // tm = RotationXMatrix(diffx) * RotationYMatrix(diffy);
+                                        tm = RotationYMatrix(diffx);
                                 }
                                 break;
@@ -911 +956 @@
                 }
         }
-#endif
         else
         {
@@ -1043 +1087 @@
                         break;
 
-                if (sscanf(text.toAscii(), "%f %f %f", &mViewPoint.x, &mViewPoint.y, &mViewPoint.z) == 3) {
+                if (sscanf_s(text.toAscii(), "%f %f %f", &mViewPoint.x, &mViewPoint.y, &mViewPoint.z) == 3) {
                         text.sprintf("%f %f %f", mViewDirection.x, mViewDirection.y, mViewDirection.z);
                         text = QInputDialog::getText(this,
@@ -1053 +1097 @@
                         if (!ok)
                                 break;
-                        if (sscanf(text.toAscii(), "%f %f %f", &mViewDirection.x,
+                        if (sscanf_s(text.toAscii(), "%f %f %f", &mViewDirection.x,
                                 &mViewDirection.y, &mViewDirection.z) == 3) {
                                         updateGL();
@@ -1075 +1119 @@
                                                                            QWidget * parent,
                                                                            const QGLWidget * shareWidget,
-                                                                           Qt::WFlags f
-                                                                           )
-                                                                           :
-GlRendererWidget(sceneGraph, viewcells, tree), QGLWidget(QGLFormat(QGL::SampleBuffers), parent, shareWidget, f)
+                                                                           Qt::WFlags f):
+GlRendererWidget(sceneGraph, viewcells, tree), 
+QGLWidget(QGLFormat(QGL::SampleBuffers), parent, shareWidget, f)
 {
         mPreprocessorThread = NULL;
@@ -1139 +1182 @@
         mPlacer = new ObjectPlacer();
 
-        //mPendingDynamicObject = NULL;
+        mCurrentDynamicObjectIdx = -1;
+
+        //mExportFrameBuffer = true;
+        mExportFrameBuffer = false;
 
         SetSceneCut(1000);
@@ -1200 +1246 @@
         connect(mControlWidget, SIGNAL(SetShowRays(bool)), this, SLOT(SetShowRays(bool)));
 
-#if 0
+#if 1
         connect(mControlWidget, SIGNAL(SetTranslation(bool)), this, SLOT(SetTranslation(bool)));
         connect(mControlWidget, SIGNAL(SetRotation(bool)), this, SLOT(SetRotation(bool)));
@@ -1206 +1252 @@
 #endif
         connect(mControlWidget, SIGNAL(UpdateDynamicObjects()), this, SLOT(UpdateDynamicObjects()));
+        connect(mControlWidget, SIGNAL(DeleteDynamicObject()), this, SLOT(DeleteDynamicObject()));
 
         setWindowTitle("PVS Visualization");
 
         // setting the main window size here
-        resize(800, 600);
-        //resize(640, 400);
+        //resize(800, 600);
+        resize(640, 480);
         
         mControlWidget->show();
@@ -1428 +1475 @@
                 filter = mViewCellsManager->GetMaxFilterSize();
 
-        glColor3f(0.0f, 0.0f, 1.0f);
-
-#if REMOVE_TEMPORARY
+#if 0 //REMOVE_TEMPORARY
         s.sprintf("frame:%04d viewpoint:(%4.1f,%4.1f,%4.1f) dir:(%4.1f,%4.1f,%4.1f)",
                 mFrame,
@@ -1447 +1492 @@
                 filter,
                 mPvsSize,
-                mRenderError*100.0f);
+                mRenderError * 100.0f);
 
         renderText(20, 40, s);
 #endif
 
-        QFont font40; font40.setPointSize(30);
+        glDisable(GL_LIGHTING);
+        //qglColor(QColor(0, 255, 0));
+        glColor3f(0, 1, 0);
+        QFont font40; font40.setPointSize(25);
         //s.sprintf("PVS: %04d", mPvsSize);
         //renderText(20, 40, s, font40);
@@ -1461 +1509 @@
         //renderText(290, 70, s, font40);
 
-        s.sprintf("PVS TRI: %07d", (int)mCurrentPvsCost);
-        renderText(290, 70, s, font40);
+        s.sprintf("PVS TRI: %08d", (int)mCurrentPvsCost);
         //renderText(290, 70, s, font40);
+        renderText(325, 40, s, font40);
+        s.sprintf("error: %3.3f %", mRenderError * 100.0f);
+        renderText(20, 40, s, font40);
+
+        //renderText(290, 70, s, font40);
+        glEnable(GL_LIGHTING);
 
 }
@@ -1809 +1862 @@
                         importance = rcCost / maxRcCost;
                 }
-if (importance > 1.0f) importance = 1.0f;
+                
+                if (importance > 1.0f) importance = 1.0f;
                 // c = RgbColor(importance, 1.0f - importance, 0.0f);
                 c = RainbowColorMapping(importance);
@@ -1962 +2016 @@
         connect(button, SIGNAL(clicked()), SIGNAL(UpdateDynamicObjects()));
         
+        button = new QPushButton("Delete", groupBox);
+        vbox2->addWidget(button);
+        connect(button, SIGNAL(clicked()), SIGNAL(DeleteDynamicObject()));
         
         groupBox->setLayout(vbox2);
@@ -2538 +2595 @@
         // set up the pbuffer context
         mRenderBuffer->makeCurrent();
-        
         // generate a texture that has the same size/format as the pbuffer
         dynamicTexture = mRenderBuffer->generateDynamicTexture();
-
         // bind the dynamic texture to the pbuffer - this is a no-op under X11
         mRenderBuffer->bindToDynamicTexture(dynamicTexture);
@@ -2627 +2682 @@
         {
                 cout << "replaying " << (int)sViewPointsList.size() << " view points " << endl;
-
+                
                 mReplayMode = true;
+                
+                if (mExportFrameBuffer)
+                        GetPreprocessor()->mSynchronize = true;
+
+                sCurrentSamples = GetPreprocessor()->mCurrentSamples;
                 sViewPointsListIt = sViewPointsList.begin();
         }
@@ -2662 +2722 @@
 int QtGlRendererWidget::FindDynamicObject(float x, float y) 
 { 
+
+        if (GetPreprocessor()->mDynamicObjects.empty())
+                return -1;
+
         makeCurrent();
-        // we need to lock the rendering context 
-        //glw.lockGLContext(); 
         
         // this is the same as in every OpenGL picking example 
@@ -2715 +2777 @@
         glPopMatrix();
 
-        int hits;
+        int hits = glRenderMode(GL_RENDER);
+
         // finally release the rendering context again 
-        if ((hits = glRenderMode(GL_RENDER)) < 0) 
+        if (!hits) 
         { 
                 cout << "no object picked" << endl;
-                //glw.unlockGLContext(); 
                 return -1; 
         } 
 
-
         //processHits(hits, buffer);
-
-        
-        //glw.unlockGLContext(); 
         
         // Each hit takes 4 items in the buffer. 
@@ -2743 +2801 @@
 
 
-}
+void QtGlRendererWidget::DeleteDynamicObject()
+{
+        Preprocessor *p = GetPreprocessor();
+
+        if ((mCurrentDynamicObjectIdx < 0) ||
+                (mCurrentDynamicObjectIdx >= p->mDynamicObjects.size()))
+                return;
+
+        cout << "deleting object" << endl;
+
+        SceneGraphLeaf *l = p->mDynamicObjects[mCurrentDynamicObjectIdx];
+
+        // tell the preprocessor that an object was deleted
+        p->ObjectRemoved(l);
+
+        swap(p->mDynamicObjects[mCurrentDynamicObjectIdx], p->mDynamicObjects.back());
+        p->mDynamicObjects.pop_back();
+
+        delete l;
+
+        mCurrentDynamicObjectIdx = -1;
+}       
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlRenderer.h

@@ -72 +72 @@
         void RenderPvs(const ObjectPvs &pvs);
 
-        float GetPixelError(int &pvsSize);
+        float GetPixelError(int &pvsSize, int pass);
 
         int ComputePvs(ObjectContainer &objects, ObjectContainer &pvs) const;
@@ -114 +114 @@
   void ReplayViewPoints();
   void UpdateDynamicObjects();
+  void DeleteDynamicObject();
   void ComputeVisibility();
   void StopComputation();
@@ -246 +247 @@
         ObjectPlacer *mPlacer;
 
-        //DynamicObjectsContainer mPendingDynamicObjects;
+        int mCurrentDynamicObjectIdx;
+
+        bool mExportFrameBuffer;
+
         DynamicObjectsContainer mDynamicPvsObjects;
 
@@ -334 +338 @@
         void ReplayViewPoints();
         void UpdateDynamicObjects();
+        void DeleteDynamicObject();
         void UpdateAllPvs();
         void ComputeVisibility();

GTP/trunk/Lib/Vis/Preprocessing/src/QtInterface/QtGlViewer.cpp

@@ -52 +52 @@
         // set viewer size here
         return QSize(512, 320);
-
         //return QSize(512, 384);
         //return QSize(640, 480);
@@ -68 +67 @@
 
         GLfloat light_ambient[]  = {0.2f, 0.2f, 0.2f, 1.0f};
-        GLfloat light_diffuse[]  = {0.4f, 0.4f, 0.4f, 1.0f};
+        GLfloat light_diffuse[]  = {0.6f, 0.6f, 0.6f, 1.0f};
         GLfloat light_specular[] = {0.3f, 0.3f, 0.3f, 1.0f};
 
@@ -82 +81 @@
         glLightfv (GL_LIGHT1, GL_POSITION, infinite_light2);
 
-        // default material
-        /*glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, mat_ambient);
-        glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, mat_diffuse);
-        glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, mat_specular);
-        glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, mat_shininess);
-*/
         // a light
         glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);

GTP/trunk/Lib/Vis/Preprocessing/src/SamplingPreprocessor.cpp

@@ -12 +12 @@
 #include "SamplingStrategy.h"
 #include "RayCaster.h"
-
+#include <windows.h>
 
 
@@ -94 +94 @@
   while (samples < mTotalSamples) {
         for (int i=0; i < mSamplesPerPass;) {
-          
+           while (mSynchronize)
+           {
+                   // hack: sleep during walthrough computation
+                   Sleep(1000);
+           }
+
           mRayCaster->InitPass();
           

GTP/trunk/Lib/Vis/Preprocessing/src/SceneGraph.cpp

@@ -278 +278 @@
 
 
-SceneGraphLeaf::SceneGraphLeaf(): mIsDynamic(false)
+SceneGraphLeaf::SceneGraphLeaf(): mIsDynamic(false), mHasChanged(true)
 {
         mTrafo = IdentityMatrix();
@@ -286 +286 @@
 
 
-SceneGraphLeaf::SceneGraphLeaf(bool isDynamic): mIsDynamic(isDynamic)
+SceneGraphLeaf::SceneGraphLeaf(bool isDynamic): mIsDynamic(isDynamic), mHasChanged(true)
 {
     mTrafo = IdentityMatrix();
@@ -294 +294 @@
 void SceneGraphLeaf::ApplyTransform(const Matrix4x4 &trafo)
 {
+        mHasChanged = true;
         mTrafo = trafo * mTrafo;
 }
@@ -300 +301 @@
 void SceneGraphLeaf::LoadTransform(const Matrix4x4 &m)
 {
+        mHasChanged = true;
         mTrafo = m;
 }
@@ -334 +336 @@
         mTrafo = copy.mTrafo;
         mIsDynamic = copy.mIsDynamic;
-}
-
-}
+        mHasChanged = true;
+}
+
+}

GTP/trunk/Lib/Vis/Preprocessing/src/SceneGraph.h

@@ -76 +76 @@
         virtual void UpdateBox();
 
+        bool HasChanged() { return mHasChanged; }
+
+        void SetHasChanged(bool hasChanged) {mHasChanged = hasChanged;}
         SceneGraphLeafIntersectable *GetIntersectable() { return mIntersectable; }
 
@@ -85 +88 @@
         ObjectContainer mGeometry;
 
-
 protected:
 
@@ -91 +93 @@
 
         bool mIsDynamic;
+        bool mHasChanged;
+
         Matrix4x4 mTrafo;
 };

GTP/trunk/Lib/Vis/Preprocessing/src/SepPlanesBox3.cpp

@@ -87 +87 @@
   Vector3 centerOrig = origBox.Center();
   Vector3 centerShad = shadBox.Center();
-  const float eps = 1e-3;
+  const float eps = 1e-3f;
   int cnt = 0;
   
@@ -111 +111 @@
       // if (cnt == 17) { cout << "Problem " << endl; }
       
-      int centerFlag = pl.Side(pointBACKSIDE, 1e-6);
+      int centerFlag = pl.Side(pointBACKSIDE, 1e-6f);
       if (centerFlag == Plane3:: INTERSECTS)
         continue; // plane crosses the center of the box!
@@ -141 +141 @@
   // test all edges of the axis aligned box
   Vector3 a,b;
-  const float eps = 1e-3;
+  const float eps = 1e-3f;
   Vector3 centerShad = shadBox.Center();
 

GTP/trunk/Lib/Vis/Preprocessing/src/main.cpp

@@ -171 +171 @@
 
         
-        TestSepAxis();
+        //TestSepAxis();
         
         Environment::GetSingleton()->Parse(argc, argv, USE_EXE_PATH);
@@ -333 +333 @@
                 // NOTE: render texture should be power of 2 and square
                 // renderer must be initialised
-                // $$matt
+                const float w = 640;
+                const float h = 480;
+
                 QtGlRendererBuffer *glbuf = 
-                        new QtGlRendererBuffer(1024, 1024,
+                        new QtGlRendererBuffer(w, h,
                                                                    preprocessor->mSceneGraph,
                                                                    preprocessor->mViewCellsManager,