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Improve simulator real-time performance

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This commit is contained in:
TJU-Lu 2025-10-28 15:46:19 +08:00
parent 73daefbb97
commit 6e4e75df0d
1 changed files with 2 additions and 2 deletions
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4
Simulator/src/src/test_simulator_cuda.cpp
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@ -234,8 +234,8 @@ void SensorSimulator::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) {
if (render_duration > depth_pub_duration || render_duration > lidar_pub_duration){
// Performance reference: should take < 1 ms on 3060 GPU & Ubuntu 20.04
ROS_WARN("Current Rendering time: %.2f ms, delay too much!", 1000 * render_duration.toSec());
std::cout << "Average Depth Rendering time: " << (depth_time / depth_count) * 1000 << " ms" << std::endl;
std::cout << "Average Lidar Rendering time: " << (lidar_time / lidar_count) * 1000 << " ms" << std::endl;
std::cout << "Average Depth Rendering time: " << (depth_time / (depth_count + 1e-8)) * 1000 << " ms" << std::endl;
std::cout << "Average Lidar Rendering time: " << (lidar_time / (lidar_count + 1e-8)) * 1000 << " ms" << std::endl;
}
}