Thank you for your reply.
Unfortunately I am not able to share this particular mesh, but the
performance problem is not unique to it. I tried some high poly meshes I
found online (for example this
https://sketchfab.com/3d-models/car-model-blender-2be4c41ccc774fc79f3e598e0091e3b9),
and saw the same issue. Then I tried a lower poly version of my robot, and
I got to an acceptable performance (<25ms to render a frame) at less than
50k polys, which is very low.
Gazebo (with ogre as rendering engine) can handle the big mesh without too
much trouble.
I will attach a modified version of the assets demo source that reproduces
this issue.
I am using nvidia driver 510.85.02, Optix 7.2.0 and Chrono
commit 8626c8bb65fceb59129a003ed916377065cd3a1b (the last one that was
compatible with Optix 7.2.0).
Kind regards,
Patrick
On Wednesday, 7 December 2022 at 23:09:13 UTC-8 Patrick Op wrote:
> Hi,
> I am evaluating the viability of project chrono for a robotics simulation
> application. As part of this, I need to import a large mesh (~1.3 million
> faces) into my simulation. The whole thing uses the same, single color
> visual material.
>
> auto body= std::make_shared<ChBodyEasyMesh>(
> filename,
> 7000,
> true,
> true,
> false,
> std::make_shared<ChMaterialSurfaceSMC>());
>
> This works fine. However, it really slows down my camera sensor. I have a
> single camera sensor (ChCameraSensor) facing the mesh.
>
> auto cam = chrono_types::make_shared<ChCameraSensor>(floorBody,
> 40,
> pose,
> width,
> height,
> 1.4,
> 1,
>
> CameraLensModelType::PINHOLE,
> false);
>
> Rendering a frame (specifically, the ChSensorManager::Update() call) takes
> over 100ms, where it only takes a few milliseconds if I have some simple
> cubes in the frame.
> I have tried the following things to speed it up:
> 1. Reduce camera resolution by 10x, this had no effect!
> 2. Add more cameras to see if it scales at all, this had no effect!
> 3. Increased MaxEngines on the SensorManager, no effect
> 4. Set RayRecursions on the SensorManager to 0, no effect
> 5. Adding no extra filters to the camera, no effect
> 6. Use ChVisualSystemIrrlicht to visualize, this performed even worse
> 7. Run on a powerful desktop with a high end GPU, this performed slightly
> better, but not by much
> 8. nvidia-smi shows that the GPU is not being utilized anywhere near 100%
>
> I am really surprised by this, as the settings on the cameras do not seem
> to influence this at all. Is there something I can do about this, or can
> Chrono Sensors just not handle large meshes like that?
> What is it the sensor manager doing with all this time?
>
> Kind regards,
> Patrick
>
>
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#include "chrono/physics/ChSystemNSC.h"
#include "chrono_sensor/ChSensorManager.h"
#include "chrono_sensor/sensors/ChCameraSensor.h"
#include "chrono_sensor/filters/ChFilterVisualize.h"
#include "chrono/physics/ChBodyEasy.h"
#include "chrono/physics/ChLinkMate.h"
#include "chrono/assets/ChTexture.h"
#include "chrono/core/ChRealtimeStep.h"
using namespace chrono;
using namespace chrono::sensor;
const unsigned int width = 1200;
const unsigned int height = 1000;
const std::string meshfile = "/home/patrick/gztest/teslaobj.obj";
int main(int argc, char* argv[]) {
// Set path to Chrono data directory
SetChronoDataPath(CHRONO_DATA_DIR);
// Create a Chrono physical system
ChSystemNSC sys;
// Create floor to anchor the camera to
auto floorBody = std::make_shared<ChBodyEasyBox>(10, 2, 10, // x, y, z dimensions
3000, // density
true, // create visualization asset
false // no collision geometry
);
floorBody->SetPos(ChVector<>(0, -2, 0));
floorBody->SetBodyFixed(true);
sys.Add(floorBody);
// create a simple red material
auto material = std::make_shared<ChVisualMaterial>();
material->SetAmbientColor(ChColor(1,0,0));
material->SetDiffuseColor(ChColor(1,0,0));
material->SetSpecularColor(ChColor(1,0,0));
// add a high poly mesh (from here, converted using blender https://sketchfab.com/3d-models/car-model-blender-2be4c41ccc774fc79f3e598e0091e3b9)
auto addMesh = [&](const std::string& name) {
auto imported= std::make_shared<ChBodyEasyMesh>(
name,
7000,
true,
true,
false,
std::make_shared<ChMaterialSurfaceSMC>());
imported->SetPos(ChVector<>(0, 0, 0));
imported->GetVisualShape(0)->AddMaterial(material);
imported->SetBodyFixed(true);
sys.Add(imported);
};
addMesh(meshfile);
// Add sensor manager, light, and camera
auto manager = chrono_types::make_shared<ChSensorManager>(&sys);
manager->scene->AddPointLight({-10.f, 0.0f, 0.f}, {2.2f / 2, 1.8902f / 2, 1.7568f / 2}, 50.0f);
auto addCam = [&] (const std::string& name, const auto& pose) {
auto cam = chrono_types::make_shared<ChCameraSensor>(floorBody,
40,
pose,
width,
height,
1.4,
1,
CameraLensModelType::PINHOLE,
false);
cam->PushFilter(chrono_types::make_shared<ChFilterVisualize>(2400, 2000, name));
manager->AddSensor(cam);
};
addCam("testcam",chrono::ChFrame<double> {{-8.f, 5.0f, 0.f}, {1.5 / 2, 1.8902f / 2, 1.7568f / 2}});
// Run the render loop
ChRealtimeStepTimer realtime_timer;
const double step_size = 0.025;
while (true) {
auto start = std::chrono::steady_clock::now();
// This call is slow!
manager->Update();
sys.DoStepDynamics(step_size);
realtime_timer.Spin(step_size);
auto end = std::chrono::steady_clock::now();
std::cout<< "frame took " << std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count()<< " ms" << std::endl;
}
return 0;
}
