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cmm-21 / a2

Assignment 2 - Kinematic walking controller
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Ex3 framerate drop when playing #18

Closed iqiac closed 3 years ago

iqiac commented 3 years ago

I managed to solve Exercise 3, but when I play it, the FPS drops from 30 to around 5 and the robot moves very slow. To show everything, it takes me a bit less than a minute. Is this related to something in the code or is it fine if I just edit the video s.t. it plays faster to get about 10sec?

eastskykang commented 3 years ago

@iqiac please make sure if you build your code in cmake Release mode. (give the following cmake option flag when you run cmake)

$ cmake -DCMAKE_BUILD_TYPE=Release ../
eastskykang commented 3 years ago

IK is not a computationally heavy operation. It's not necessarily to run in 30 fps (real time) but if it's too slow, something could be wrong.

iqiac commented 3 years ago

I'm using vs code on windows. The only file with cmake -DCMAKE_BUILD_TYPE=Release is in "./build/_deps/eigen-src/scripts/release.in" where it uses "." and not "../". Changing to "../" didn't do anything, it still drops to 5-6 FPS (link: https://www.youtube.com/watch?v=Kxig2WnUob8). So you think this is a mistake in the IK implementation?

relazzouzi commented 3 years ago

I have the same issue as well, as soon as I press play it drops to 3-4 FPS, making it impossible to show what the robot can do within just 10 seconds. Also using VS code on windows.

eastskykang commented 3 years ago

image

Please tell me what your cmake build mode is. You can see the mode on the status bar (blue bar at the botton). It should be "Release", not "Debug" if you want to build your code with optimization in execution speed.

iqiac commented 3 years ago

Ah thank you, it was on debug, I changed to release and it doesn't drop the framerate now. Thanks very much.