Closed RussTedrake closed 2 years ago
See https://github.com/RobotLocomotion/drake/issues/17861 for a detailed description and analysis. We've seen approximately a 10x speed up in demarshalling approximately 30 MB of scene data.
This includes a small refactor of the handle_command to allow decode() to be called directly (since consumers of the Viewer might want to use the additionally defined msgpack types).
Also fixes a small bug with accumulating camera/light controllers.
See https://github.com/RobotLocomotion/drake/issues/17861 for a detailed description and analysis. We've seen approximately a 10x speed up in demarshalling approximately 30 MB of scene data.
This includes a small refactor of the handle_command to allow decode() to be called directly (since consumers of the Viewer might want to use the additionally defined msgpack types).
Also fixes a small bug with accumulating camera/light controllers.