rayrai_complete_showcase_benchmark

rayrai_complete_showcase_benchmark is the timed, source-build benchmark version of the complete rayrai showcase. It builds the Anymal sensor scene, streams LiDAR data into a rayrai point cloud, renders RGB and depth sensor views, and can include CPU readback, legacy visualization paths, PBR world materials, visualization startup, and startup profiling.

Run benchmark cases on one thread:

OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/rayrai_complete_showcase_benchmark --json
OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/rayrai_complete_showcase_benchmark --frames=60 --warmup=10 --readback --json
OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/rayrai_complete_showcase_benchmark --async-readback --json
OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/rayrai_complete_showcase_benchmark --legacy-showcase --json
OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 <raisim-install>/bin/rayrai_complete_showcase_benchmark --viz --viz-frames=1 --profile-startup --pbr-world

Supported options are --frames=, --warmup=, --viz-frames=, --json, --readback, --async-readback, --legacy-point-cloud, --legacy-depth-color, --legacy-showcase, --viz, --profile-startup, and --pbr-world.

--async-readback also enables readback timing. --legacy-showcase enables both the legacy point-cloud upload path and the legacy depth-color path. With --viz, --viz-frames=0 keeps the visualization open until the window is closed; positive values close after that many frames.