Optimization: remove extra copy of data buffer in Ogre2GpuRays and Ogre2DepthCamera #1022
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
ahcorde
approved these changes
Jul 26, 2024
athenaz2
pushed a commit
to athenaz2/gz-rendering
that referenced
this pull request
Jul 29, 2024
…re2DepthCamera (gazebosim#1022) Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Athena Z <[email protected]>
athenaz2
pushed a commit
to athenaz2/gz-rendering
that referenced
this pull request
Jul 29, 2024
…re2DepthCamera (gazebosim#1022) Signed-off-by: Ian Chen <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Summary
In
Ogre2GpuRaysandOgre2DepthCamera, the raw data from ogre2 is copied into an local intermediate data buffer first before being copied again to separate outgoing data buffer(s) which are to be consumed by gz-sensors. This is not really necessary because gz-sensors also does its own copy when new data are available. This PR removes the local intermediate data buffer inOgre2GpuRaysandOgre2DepthCameraclasses and just copy the ogre2 raw data directly to the outgoing bufferTested by running relevant integration tests:
INTEGRATION_gpu_rays,INTEGRATION_depth_cameratestsGZ_ENGINE_TO_TEST=ogre2 ./build/gz-rendering8/bin/INTEGRATION_depth_cameraINTEGRATION_gpu_lidar_sensor,INTEGRATION_rgbd_camera,INTEGRATION_depth_cameraChecklist
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.