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azeey
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@azeey azeey commented Oct 14, 2025

Haven't tested on a GPU machine yet, but in theory, this should improve performance since the texture files are cached instead of being loaded for each mesh.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey azeey requested a review from iche033 October 14, 2025 03:42
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iche033 commented Oct 16, 2025

I tested this on my machine with GPU. Here are some numbers:

  • This PR with gltf
    Startup time: ~24s
    RTF: ~40%
    VRAM: ~6GB
    RAM: ~8.6GB

  • main branch with glb
    Startup time: ~25s
    RTF: ~40%
    VRAM: ~6GB
    RAM: ~9GB

The number are similar. Not sure if you see different results.

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