Some terrainsampler improvements
- use max. computation time instead of max computations per frame - restart computation of an area only after significant movememt - let the area move with a heading and a speed
This commit is contained in:
Torsten Dreyer
parent
52ac173257
commit
b2f8238696
1 changed files with 121 additions and 75 deletions
196
src/Environment/terrainsampler.cxx
Executable file → Normal file
196
src/Environment/terrainsampler.cxx
Executable file → Normal file
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@ -40,14 +40,13 @@ namespace Environment {
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*/
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class AreaSampler : public SGSubsystem {
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public:
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AreaSampler( SGPropertyNode_ptr rootNode );
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virtual ~AreaSampler();
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void update( double dt );
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AreaSampler( SGPropertyNode_ptr rootNode );
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virtual ~AreaSampler();
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void update( double dt );
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void bind();
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void unbind();
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double getOrientationDeg() const { return _orientation_rad * SG_RADIANS_TO_DEGREES; }
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void setOrientationDeg( double value ) { _orientation_rad = value * SG_DEGREES_TO_RADIANS; }
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void init();
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void reinit();
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int getElevationHistogramStep() const { return _elevationHistogramStep; }
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void setElevationHistograpStep( int value ) {
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@ -70,27 +69,30 @@ private:
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bool _enabled;
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bool _useAircraftPosition;
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double _latitude_deg;
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double _longitude_deg;
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double _orientation_rad;
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int _radius;
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int _samples_per_frame;
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double _heading_deg;
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double _speed_kt;
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int _radius;
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double _max_computation_time_norm;
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int _max_samples; // keep xx samples in queue for analysis
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int _analyze_every; // Run analysis every xx samples
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double _reuse_samples_norm;
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double _recalc_distance_norm;
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int _elevationHistogramMax;
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int _elevationHistogramStep;
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int _elevationHistogramCount;
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SGGeod _inputPosition;
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double _altOffset;
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double _altMedian;
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double _altMin;
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double _altLayered;
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double _altMean;
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SGGeod _outputPosition;
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SGPropertyNode_ptr _signalNode;
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SGPropertyNode_ptr _positionLatitudeNode;
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SGPropertyNode_ptr _positionLongitudeNode;
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deque<double> elevations;
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deque<double> _elevations;
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TiedPropertyList _tiedProperties;
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};
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@ -98,13 +100,13 @@ AreaSampler::AreaSampler( SGPropertyNode_ptr rootNode ) :
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_rootNode(rootNode),
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_enabled(true),
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_useAircraftPosition(false),
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_latitude_deg(0.0),
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_longitude_deg(0.0),
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_orientation_rad(0.0),
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_radius(40000.0),
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_samples_per_frame(5),
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_heading_deg(0.0),
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_speed_kt(0.0),
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_radius(40000.0),
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_max_computation_time_norm(0.1),
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_max_samples(1000),
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_analyze_every(200),
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_reuse_samples_norm(0.8),
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_recalc_distance_norm(0.1),
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_elevationHistogramMax(10000),
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_elevationHistogramStep(500),
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_elevationHistogramCount(_elevationHistogramMax/_elevationHistogramStep),
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@ -112,10 +114,12 @@ AreaSampler::AreaSampler( SGPropertyNode_ptr rootNode ) :
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_altMedian(0),
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_altMin(0),
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_altLayered(0),
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_altMean(0)
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_altMean(0),
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_signalNode(rootNode->getNode("output/valid", true )),
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_positionLatitudeNode(fgGetNode( "/position/latitude-deg", true )),
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_positionLongitudeNode(fgGetNode( "/position/longitude-deg", true ))
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{
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_positionLatitudeNode = fgGetNode( "/position/latitude-deg", true );
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_positionLongitudeNode = fgGetNode( "/position/longitude-deg", true );
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_inputPosition.setElevationM( SG_MAX_ELEVATION_M );
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}
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AreaSampler::~AreaSampler()
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@ -130,14 +134,15 @@ void AreaSampler::bind()
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_tiedProperties.setRoot( _rootNode->getNode( "input", true ) );
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_tiedProperties.Tie( "use-aircraft-position", &_useAircraftPosition );
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_tiedProperties.Tie( "latitude-deg", &_latitude_deg );
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_tiedProperties.Tie( "latitude-deg", &_latitude_deg );
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_tiedProperties.Tie( "longitude-deg", &_longitude_deg );
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_tiedProperties.Tie( "orientation-deg", this, &AreaSampler::getOrientationDeg, &AreaSampler::setOrientationDeg );
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_tiedProperties.Tie( "latitude-deg", &_inputPosition, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg );
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_tiedProperties.Tie( "longitude-deg", &_inputPosition, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg );
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_tiedProperties.Tie( "heading-deg", &_heading_deg );
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_tiedProperties.Tie( "speed-kt", &_speed_kt );
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_tiedProperties.Tie( "radius-m", &_radius );
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_tiedProperties.Tie( "max-samples-per-frame", &_samples_per_frame );
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_tiedProperties.Tie( "max-computation-time-norm", &_max_computation_time_norm );
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_tiedProperties.Tie( "max-samples", &_max_samples );
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_tiedProperties.Tie( "analyse-every", &_analyze_every );
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_tiedProperties.Tie( "reuse-samples-norm", &_reuse_samples_norm );
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_tiedProperties.Tie( "recalc-distance-norm", &_recalc_distance_norm );
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_tiedProperties.Tie( "elevation-histogram-max-ft", this, &AreaSampler::getElevationHistogramMax, &AreaSampler::setElevationHistograpMax );
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_tiedProperties.Tie( "elevation-histogram-step-ft", this, &AreaSampler::getElevationHistogramStep, &AreaSampler::setElevationHistograpStep );
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_tiedProperties.Tie( "elevation-histogram-count", this, &AreaSampler::getElevationHistogramCount );
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@ -148,6 +153,9 @@ void AreaSampler::bind()
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_tiedProperties.Tie( "alt-min-ft", &_altMin );
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_tiedProperties.Tie( "alt-layered-ft", &_altLayered );
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_tiedProperties.Tie( "alt-mean-ft", &_altMean );
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_tiedProperties.Tie( "longitude-deg", &_outputPosition, &SGGeod::getLongitudeDeg );
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_tiedProperties.Tie( "latitude-deg", &_outputPosition, &SGGeod::getLatitudeDeg );
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}
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void AreaSampler::unbind()
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@ -155,45 +163,90 @@ void AreaSampler::unbind()
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_tiedProperties.Untie();
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}
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void AreaSampler::init()
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{
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_signalNode->setBoolValue(false);
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_elevations.clear();
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_altOffset = 0.0;
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_altMedian = 0.0;
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_altMin = 0.0;
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_altLayered = 0.0;
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_altMean = 0.0;
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}
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void AreaSampler::reinit()
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{
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init();
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}
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void AreaSampler::update( double dt )
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{
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if( !(_enabled && dt > SGLimitsd::min()) )
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// if not enabled or time has stalled, do nothing
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if( !(_enabled && dt > SGLimitsd::min()) )
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return;
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if( _useAircraftPosition ) {
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_longitude_deg = _positionLongitudeNode->getDoubleValue();
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_latitude_deg = _positionLatitudeNode->getDoubleValue();
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// get the aircraft's position if requested
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if( _useAircraftPosition && _speed_kt < 0.5 ) {
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_inputPosition = SGGeod::fromDegM(
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_positionLongitudeNode->getDoubleValue(),
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_positionLatitudeNode->getDoubleValue(),
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SG_MAX_ELEVATION_M );
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}
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SGGeoc center = SGGeoc::fromGeod( SGGeod::fromDegM( _longitude_deg, _latitude_deg, SG_MAX_ELEVATION_M ) );
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// need geocentric coordinates
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SGGeoc center = SGGeoc::fromGeod( _inputPosition );
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// if a speed is set, move the input position
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if( _speed_kt >= 0.5 ) {
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double distance_m = _speed_kt * dt * SG_NM_TO_METER;
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center = center.advanceRadM( _heading_deg * SG_DEGREES_TO_RADIANS, distance_m );
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_inputPosition = SGGeod::fromGeoc( center );
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}
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if( _signalNode->getBoolValue() ) {
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// if we had finished the iteration and moved more than 10% of the radius
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// of the sampling area, drop the oldest samples and continue sampling
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if( SGGeoc::distanceM( center, SGGeoc::fromGeod(_outputPosition ) ) >= _recalc_distance_norm * _radius ) {
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_elevations.resize( _max_samples * _reuse_samples_norm );
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_signalNode->setBoolValue( false );
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}
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}
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if( _signalNode->getBoolValue() )
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return; // nothing to do.
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FGScenery * scenery = globals->get_scenery();
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for( int i = 0;
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i < _samples_per_frame;
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i++ ) {
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double distance = sg_random() * _radius;
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double course = sg_random() * 2.0 * SG_PI;
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SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, distance ));
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double elevation_m = 0.0;
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if (scenery->get_elevation_m( probe, elevation_m, NULL ))
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elevations.push_front(elevation_m *= SG_METER_TO_FEET);
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SGTimeStamp start = SGTimeStamp::now();
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while( (SGTimeStamp::now() - start).toSecs() < dt * _max_computation_time_norm ) {
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// sample until we used up all our configured time
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double distance = sg_random();
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distance = _radius * (1-distance*distance);
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double course = sg_random() * 2.0 * SG_PI;
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SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, distance ));
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double elevation_m = 0.0;
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if (scenery->get_elevation_m( probe, elevation_m, NULL ))
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_elevations.push_front(elevation_m *= SG_METER_TO_FEET);
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if( elevations.size() >= (deque<unsigned>::size_type)_max_samples ) {
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if( _elevations.size() >= (deque<unsigned>::size_type)_max_samples ) {
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// sampling complete?
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analyse();
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elevations.resize( _max_samples - _analyze_every );
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_outputPosition = _inputPosition;
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_signalNode->setBoolValue( true );
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break;
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}
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}
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}
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}
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void AreaSampler::analyse()
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{
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double sum;
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vector<int> histogram(_elevationHistogramCount,0);
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vector<int> histogram(_elevationHistogramCount,0);
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for( deque<double>::size_type i = 0; i < elevations.size(); i++ ) {
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int idx = SGMisc<int>::clip( (int)(elevations[i]/_elevationHistogramStep), 0, histogram.size()-1 );
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for( deque<double>::size_type i = 0; i < _elevations.size(); i++ ) {
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int idx = SGMisc<int>::clip( (int)(_elevations[i]/_elevationHistogramStep), 0, histogram.size()-1 );
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histogram[idx]++;
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}
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@ -201,7 +254,7 @@ void AreaSampler::analyse()
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sum = 0.0;
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for( vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
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sum += histogram[i];
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if( sum > 0.5 * elevations.size() ) {
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if( sum > 0.5 * _elevations.size() ) {
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_altMedian = i * _elevationHistogramStep;
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break;
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}
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@ -211,7 +264,7 @@ void AreaSampler::analyse()
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sum = 0.0;
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for( vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
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sum += histogram[i];
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if( sum > 0.3 * elevations.size() ) {
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if( sum > 0.3 * _elevations.size() ) {
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_altOffset = i * _elevationHistogramStep;
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break;
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}
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@ -222,7 +275,7 @@ void AreaSampler::analyse()
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_altMean += histogram[i] * i;
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}
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_altMean *= _elevationHistogramStep;
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if( elevations.size() != 0.0 ) _altMean /= elevations.size();
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if( _elevations.size() != 0.0 ) _altMean /= _elevations.size();
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_altMin = 0.0;
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for( vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
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@ -238,7 +291,7 @@ void AreaSampler::analyse()
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for( vector<int>::size_type i = 0; i < histogram.size()-1; i++ ) {
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sum += histogram[i];
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if( histogram[i] > n_max ) n_max = histogram[i];
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if( n_max > histogram[i+1] && sum > 0.3*elevations.size()) {
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if( n_max > histogram[i+1] && sum > 0.3*_elevations.size()) {
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alt_low_min = i * _elevationHistogramStep;
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break;
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}
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@ -246,14 +299,6 @@ void AreaSampler::analyse()
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_altLayered = 0.5 * (_altMin + _altOffset);
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#if 0
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SG_LOG( SG_ALL, SG_ALERT, "TerrainPresampler - alalysis results:" <<
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" total:" << elevations.size() <<
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" mean:" << _altMean <<
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" median:" << _altMedian <<
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" min:" << _altMin <<
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" alt_20:" << _altOffset );
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#endif
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#if 0
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append(alt_50_array, alt_med);
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#endif
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@ -266,14 +311,15 @@ append(alt_50_array, alt_med);
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class TerrainSamplerImplementation : public TerrainSampler
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{
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public:
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TerrainSamplerImplementation ( SGPropertyNode_ptr rootNode );
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virtual ~TerrainSamplerImplementation ();
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virtual void init ();
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virtual void reinit ();
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TerrainSamplerImplementation ( SGPropertyNode_ptr rootNode );
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virtual ~TerrainSamplerImplementation ();
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virtual void init ();
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virtual void postinit();
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virtual void reinit ();
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virtual void bind();
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virtual void unbind();
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virtual void update (double delta_time_sec);
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virtual void update (double delta_time_sec);
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private:
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inline string areaSubsystemName( unsigned i ) {
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ostringstream name;
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@ -281,7 +327,7 @@ private:
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return name.str();
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}
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SGPropertyNode_ptr _rootNode;
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SGPropertyNode_ptr _rootNode;
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bool _enabled;
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TiedPropertyList _tiedProperties;
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};
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@ -303,10 +349,14 @@ void TerrainSamplerImplementation::init()
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for( PropertyList::size_type i = 0; i < areaNodes.size(); i++ )
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set_subsystem( areaSubsystemName(i), new AreaSampler( areaNodes[i] ) );
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SGSubsystemGroup::bind();// bind the subsystems before the get init()ed
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SGSubsystemGroup::init();
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}
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void TerrainSamplerImplementation::postinit()
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{
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SGSubsystemGroup::bind();//
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}
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void TerrainSamplerImplementation::reinit()
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{
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for( unsigned i = 0;; i++ ) {
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@ -334,8 +384,8 @@ void TerrainSamplerImplementation::unbind()
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void TerrainSamplerImplementation::update( double dt )
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{
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if( !(_enabled && dt > SGLimitsd::min()) )
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return;
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if( !(_enabled && dt > SGLimitsd::min()) )
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return;
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SGSubsystemGroup::update(dt);
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}
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@ -343,13 +393,9 @@ void TerrainSamplerImplementation::update( double dt )
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/* implementation of the TerrainSampler factory to hide the implementation
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details */
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TerrainSampler::~TerrainSampler ()
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{
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}
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TerrainSampler * TerrainSampler::createInstance( SGPropertyNode_ptr rootNode )
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{
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return new TerrainSamplerImplementation( rootNode );
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return new TerrainSamplerImplementation( rootNode );
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}
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} // namespace
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