Fix Lidar lag spike from RaycastLiDARSensor.cs#172
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Autumn60 merged 1 commit intoField-Robotics-Japan:masterfrom Sep 28, 2024
alexandrefch:fix/lidar_lag_spikes
Merged
Fix Lidar lag spike from RaycastLiDARSensor.cs#172Autumn60 merged 1 commit intoField-Robotics-Japan:masterfrom alexandrefch:fix/lidar_lag_spikes
Autumn60 merged 1 commit intoField-Robotics-Japan:masterfrom
alexandrefch:fix/lidar_lag_spikes
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So too much division of jobs is not good. 🤔 |
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Sep 28, 2024
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LGTM.
Fail of CI is due to the fact that it is a PR from a forked repository.
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It's the opposite: before, all calculations were carried out on a single job; now, by giving job's tasks with 256 raycasts, calculations are parallel and equaly distributed between jobs. |
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Understood. |
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Fixed a performance bug when using lidar by changing the minimum raycast calculation per job.
As we see in the unity editor's profiling tool, there's a lag spike every time lidar run, and a single job seems to perform all the calculations.
After changing the
minCommandsPerJobparameter fromRaycastCommand.ScheduleBatchinsideRaycastLiDARSensor.cswith a constant value of256(arbitrary value), we can see an improvement: there are no more lag peaks, the frame rate is now stable and tasks are better distributed between jobs.