Hello,
I'm doing some experiments using these lidars and I find them quite cpu intensive (99% at 1hz on a i7-7820HK, linux) and very slow (even disabling the pointcloud visualization).
Am I missing anything? Tweaking, configuration... or is it the expected behavior?
VLP_16 and HDL_64 very slow and cpu intensive
Re: VLP_16 and HDL_64 very slow and cpu intensive
Hi gu4rd1an,
if you can, upload your scene (or a minimal reproducible testcase) to dropbox or similar: it will be easier to understand what's going on and give you an answer.
if you can, upload your scene (or a minimal reproducible testcase) to dropbox or similar: it will be easier to understand what's going on and give you an answer.
Re: VLP_16 and HDL_64 very slow and cpu intensive
This is really a simple scene: default floor and a bunch of cubes around.
There is a Velodyne in the middle of the scene (spinning at 20hz), I get something like 5fps.
The octree has been disabled to speed up the simulation.
This is sub-optimal at the moment. I would like my simulation to run at (least) 30fps while the lidar spins at 15-20hz in a more complex scene.
CPU: 7820HK (in complex scenes cpu reaches 100%)
GPU: 1070gtx
https://drive.google.com/open?id=0B-eQH ... WlUcVJ6SVU
There is a Velodyne in the middle of the scene (spinning at 20hz), I get something like 5fps.
The octree has been disabled to speed up the simulation.
This is sub-optimal at the moment. I would like my simulation to run at (least) 30fps while the lidar spins at 15-20hz in a more complex scene.
CPU: 7820HK (in complex scenes cpu reaches 100%)
GPU: 1070gtx
https://drive.google.com/open?id=0B-eQH ... WlUcVJ6SVU
Re: VLP_16 and HDL_64 very slow and cpu intensive
Hello,
you are scanning at 20 Hz, which makes things quite slow, because there are many points. You have several possibilities to speed-up things (from what I can see the bottleneck is the call to simExtVision_handleVelodyneHDL64E: 1/3 of the time is used for vision sensor handling (i.e. rendering), 2/3 is used for computing the points from the various vision sensor's depth maps.
So you can try following:
Cheers
you are scanning at 20 Hz, which makes things quite slow, because there are many points. You have several possibilities to speed-up things (from what I can see the bottleneck is the call to simExtVision_handleVelodyneHDL64E: 1/3 of the time is used for vision sensor handling (i.e. rendering), 2/3 is used for computing the points from the various vision sensor's depth maps.
So you can try following:
- reduce the vision sensor resolution. There will be more overlapping points (resolution will be worse)
- reduce the number of generated points in the vision sensor filter. There will be less points
Cheers