Performance tuning

- Lidar, Camera : get buffer from render texture using AsyngGPUReadback
lge-ros2 · Jul 26, 2020 · 68926e5 · 68926e5
1 parent acd31f7
commit 68926e5
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Showing 3 changed files with 37 additions and 19 deletions.
diff --git a/Assets/Scripts/Devices/Camera.cs b/Assets/Scripts/Devices/Camera.cs
@@ -28,8 +28,6 @@ public partial class Camera : Device
 
 		protected UnityEngine.Camera cam = null;
 
-		public float adjustCapturingRate = 0.95f;
-
 		public bool runningDeviceWork = true;
 
 		protected string targetRTname;
@@ -184,10 +182,12 @@ private IEnumerator CameraWorker()
 				cam.Render();
 
 				var readback = AsyncGPUReadback.Request(cam.targetTexture, 0, readbackDstFormat);
+				cam.enabled = false;
 
-				yield return new WaitUntil(() => readback.done);
+				yield return null;
+
+				readback.WaitForCompletion();
 
-				cam.enabled = false;
 
 				if (readback.hasError)
 				{
@@ -196,13 +196,16 @@ private IEnumerator CameraWorker()
 				}
 				// Debug.Assert(request.done);
 
-				camData.SetTextureData(readback.GetData<byte>());
-
-				if (parameters.save_enabled)
+				if (readback.done)
 				{
-					var saveName = name + "_" + Time.time;
-					camData.SaveRawImageData(parameters.save_path, saveName);
-					// Debug.LogFormat("{0}|{1} captured", parameters.save_path, saveName);
+					camData.SetTextureData(readback.GetData<byte>());
+
+					if (parameters.save_enabled)
+					{
+						var saveName = name + "_" + Time.time;
+						camData.SaveRawImageData(parameters.save_path, saveName);
+						// Debug.LogFormat("{0}|{1} captured", parameters.save_path, saveName);
+					}
 				}
 
 				yield return waitForSeconds;

diff --git a/Assets/Scripts/Devices/Device.cs b/Assets/Scripts/Devices/Device.cs
@@ -29,6 +29,8 @@ public abstract class Device : MonoBehaviour
 
 	private float transportingTimeSeconds = 0;
 
+	public float adjustCapturingRate = 0.85f;
+
 	void OnDestroy()
 	{
 		if (memoryStreamOutboundQueue.IsCompleted)

diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs
@@ -60,8 +60,6 @@ public partial class Lidar : Device
 
 		private LaserCamData[] laserCamData;
 
-		public float adjustWaitingPeriod = 0.80f;
-
 		void OnRenderImage(RenderTexture source, RenderTexture destination)
 		{
 			if (depthMaterial)
@@ -189,7 +187,8 @@ private void SetupLaserCameraData()
 		private IEnumerator LaserCameraWorker()
 		{
 			var axisRotation = Vector3.zero;
-			var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustWaitingPeriod);
+			var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustCapturingRate);
+			var readbacks = new AsyncGPUReadbackRequest[numberOfLaserCamData];
 
 			while (true)
 			{
@@ -204,20 +203,34 @@ private IEnumerator LaserCameraWorker()
 
 					laserCam.Render();
 
-					var readback = AsyncGPUReadback.Request(laserCam.targetTexture, 0, TextureFormat.RGBA32);
-
-					yield return new WaitUntil(() => readback.done);
+					readbacks[dataIndex] = AsyncGPUReadback.Request(laserCam.targetTexture, 0, TextureFormat.RGBA32);
 
 					laserCam.enabled = false;
+				}
+
+				yield return null;
+
+				for (var dataIndex = 0; dataIndex < numberOfLaserCamData; dataIndex++)
+				{
+					var readback = readbacks[dataIndex];
+					readback.WaitForCompletion();
 
 					if (readback.hasError)
 					{
-						Debug.LogError("Failed to read GPU texture");
+						Debug.LogError("Failed to read GPU texture, dataIndex: " + dataIndex);
 						continue;
 					}
 					// Debug.Assert(readback.done);
 
-					data.SetBufferData(readback.GetData<byte>());
+					if (readback.done)
+					{
+						var data = laserCamData[dataIndex];
+						data.SetBufferData(readback.GetData<byte>());
+					}
+					else
+					{
+						Debug.LogWarning("AsyncGPUReadBackback Request was failed, dataIndex: " + dataIndex);
+					}
 				}
 
 				yield return waitForSeconds;
@@ -226,7 +239,7 @@ private IEnumerator LaserCameraWorker()
 
 		protected override IEnumerator MainDeviceWorker()
 		{
-			var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustWaitingPeriod);
+			var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustCapturingRate);
 			var sw = new Stopwatch();
 			while (true)
 			{