Ian Chen

> I timed each stage in the camera sensor's update process and found that there is a dramatic slow down from the sensor update loop to the manager update loop....

no, unfortunately no work has been done on this yet.

> Hey, could you please assign this to me? done, assigned.

Errors from CI: ``` 21: unknown file: error: C++ exception with description "Ogre::RuntimeAssertionException::RuntimeAssertionException: Ogre/ShadowExtrudePointLight not found. Verify that you referenced the 'ShadowVolume' folder in your resources.cfg in Ogre::ShadowVolumeExtrudeProgram::initialise at C:\vcpkg\buildtrees\ogre\src\eddf310f0b-6ab1152694.clean\OgreMain\src\OgreShadowVolumeExtrudeProgram.cpp...

I think the reason is that for rgbd cameras, we are manually clipping the view ourselves based on depth values in [fragment shader](https://github.com/ignitionrobotics/ign-rendering/blob/ign-rendering5/ogre2/src/media/materials/programs/depth_camera_fs.glsl#L158) and the result is going to be...

I think we maybe able to fix it for the thermal camera as it's using its own custom shaders already. For RGB camera we would probably need to add an...

included frame id fix for lidar sensor in https://github.com/gazebosim/gz-sensors/pull/444. I'll backport to gz-sensors8 (harmonic) and make it compatible with `` once that PR is merged.

backported fix in #446

since the issue is reported for ign-sensors3, I backported the macOS fixes to ign-rendering3 in https://github.com/ignitionrobotics/ign-rendering/pull/339. If that looks good, we can bump the ign-rendering3 homebrew bottle version then test...

about the idea of parallelizng camera rendering, I'm not sure if OGRE supports this since there are orders of operations that must be done in sequence in OGRE to prepare...