How can I maintain fast simulation rate with many vision and proximity sensors?

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jparkcalvin
Posts: 7
Joined: 01 Oct 2018, 05:59

How can I maintain fast simulation rate with many vision and proximity sensors?

Post by jparkcalvin » 27 Dec 2018, 08:02

Hi,

I used a mobile platform with many lidar (SICK sensor), vision (kinect, camera), and proximity sensors attached.
When I ran the simulation with default simulation time (dt=50 ms),
simulation went too slow (script executed time: ~ 200 ms, vision sensor rate: ~ 140 ms).

Is there any way other than reducing the number of sensors or resolutions of sensors?

Thanks and Regards,
Calvin

coppelia
Site Admin
Posts: 7157
Joined: 14 Dec 2012, 00:25

Re: How can I maintain fast simulation rate with many vision and proximity sensors?

Post by coppelia » 28 Dec 2018, 11:00

Hello,

yes, you can reduce the number of sampling for your vision sensors. Instead of computing (i.e. handling) your vision sensors once per simulation step, you could handle then once every 4 simulation steps for instance.

To do this, you will have to flag those vision sensors as explicit handling and call sim.handleVisionSensor yourself, when needed.

Cheers

jparkcalvin
Posts: 7
Joined: 01 Oct 2018, 05:59

Re: How can I maintain fast simulation rate with many vision and proximity sensors?

Post by jparkcalvin » 02 Jan 2019, 03:04

Thank you for the answer!!

Calvin

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