Way to synchronize getCameraImage with GUI rendering, or parallelize

[avikde]

I have been trying to speed up some synthetic sensor rendering in my bullet application, where we need to GUI for visualization as well. At this point I see that the renderSceneInternal for the getCameraImage takes about the same amount of time as the GUI renderSceneInternal does. I call getCameraImage infrequently compared to physics stepSimulation, but for now at a fixed decimation rate compared to physics step, and so one of the slowdowns seems to be when getCameraImage is waiting for the GUI rendering to finish (circled)

Is there a way to try and eliminate the waiting period by having something like this logic: "every 1 or 2 GUI rendering, insert getCameraImage()" instead of the current logic "every 100 physics steps, insert getCameraImage".

Alternately, it would be even better if renderSceneInternal for getCameraImage() could be parallel to the GUI renderScene, but I assume that is not possible.