Fixing Lidar performance issue

Field-Robotics-Japan · Sep 23, 2024 · 405c9f3 · 405c9f3
1 parent b1a5050
commit 405c9f3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs b/Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs
@@ -91,7 +91,7 @@ protected override void UpdateSensor()
 
             JobHandle updateRaycastCommandsJobHandle = _updateRaycastCommandsJob.Schedule(pointsNum, 1);
             JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(pointsNum, 1, updateRaycastCommandsJobHandle);
-            JobHandle raycastJobHandle = RaycastCommand.ScheduleBatch(_raycastCommands, _raycastHits, pointsNum, updateGaussianNoisesJobHandle);
+            JobHandle raycastJobHandle = RaycastCommand.ScheduleBatch(_raycastCommands, _raycastHits, 256, updateGaussianNoisesJobHandle);
             _jobHandle = _raycastHitsToPointsJob.Schedule(pointsNum, 1, raycastJobHandle);
 
             JobHandle.ScheduleBatchedJobs();