Optimize Ogre2DepthCamera performance by skipping color target passes when there are no connections #965
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
8 tasks
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## gz-rendering8 #965 +/- ##
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+ Coverage 75.54% 75.58% +0.03%
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Files 177 177
Lines 16890 16919 +29
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+ Hits 12760 12788 +28
- Misses 4130 4131 +1 ☔ View full report in Codecov by Sentry. |
ahcorde
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Jan 25, 2024
ahcorde
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Jan 25, 2024
Signed-off-by: Ian Chen <ichen@openrobotics.org>
8 tasks
iche033
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Feb 29, 2024
… when there are no connections (#965) skip computations needed to generate the color rgb images if there are no point cloud connections. --------- Signed-off-by: Ian Chen <ichen@openrobotics.org>
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🦟 Bug fix
Summary
Performance optimization - Ogre2DepthCamera is capable of generating color images in addition to depth and the color data are packed into a point cloud buffer. So if there are no point cloud connections, we can skip computations needed to generate the color rgb images.
Also added changes to skip light-related computations in the same way as lidars in #955
More info:
This is done by using ogre2's "execution mask". If the render passes execution mask matches the workspace's execution mask, the passes get executed. So by default, the color target's render passes' execution mask is set to something that does not match the workspace execution mask so we can skip computation for the color passes. When point cloud connections is detected, the passes' execution mask is updated to match the workspace's mask.
To Test
This is to be used with gazebosim/gz-sensors#413. You can see graphs in that pull request showing the performance improvements for a depth camera and a RGBD camera in gz sim.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.