Vrep performance

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Vrep performance

Post by atoz » 12 Jul 2017, 18:19


Using 5 vision sensors and rendering them in my scene has really slowed down the vrep simulation. However, V-rep is not fully utilising my CPU(26%) or GPU(40%). I'm using an Intel Core i7 with GTX 680M in SLI. Does Vrep use multi-core,threading or SLI for any of its processing?

I've tried doing explicit handling of the sensors but I need 'live' camera streams so I can't reduce the frame rate much. Are there any alternatives?
Thanks in advance.

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Re: Vrep performance

Post by coppelia » 13 Jul 2017, 13:01


currently all scripts (even threaded scripts) run sequentially (co-routine behaviour for threaded scripts). This is mainly to be able to perfectly synchronize all control elements of a simulation (i.e. scripts, plugins, etc.). Rendering happens on a different core, but is currently not implemented efficiently. We are planning to replace the rendering functionality for better graphics and faster execution (e.g. also vision sensors).

If the bottleneck are vision sensors, then you can try to explicitely handle them only when needed (you seem to have done that already). Another option would be to ignore RGB or depth information if not required.


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