Merge pull request #172 from alexandrefch/fix/lidar_lag_spikes

Fix Lidar lag spike from RaycastLiDARSensor.cs
Field-Robotics-Japan · Sep 28, 2024 · d0c64ae · d0c64ae
2 parents b1a5050 + 405c9f3
commit d0c64ae
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();