Improving HoloOcean Performance
HoloOcean is fairly performant by default, but you can also sacrifice features to increase your frames per second.
RGBCamera
By far, the biggest single thing you can do to improve performance is to
disable the RGBCamera. Rendering the camera every frame causes a
context switch deep in the rendering code of the engine, which has a
significant performance penalty.
This chart shows how much performance you can expect to gain or loose adjusting the RGBCamera (left column is frame time in milleseconds). Note all these tests were done in the original Holodeck, but the results should be the same.
Resolution |
UrbanCity |
MazeWorld |
AndroidPlayground |
|||
|---|---|---|---|---|---|---|
No Camera |
8.55 ms |
117 fps |
4.69 ms |
213 fps |
2.47 ms |
405 fps |
64 |
17 ms |
59 fps |
11 ms |
91 fps |
4.87 ms |
205 fps |
128 |
20 ms |
50 fps |
11.6 ms |
86 fps |
5.59 ms |
179 fps |
256 |
22 ms |
45 fps |
14.71 ms |
68 fps |
9.02 ms |
111 fps |
512 |
35 ms |
29 fps |
30.8 ms |
32 fps |
24.81 ms |
40 fps |
1024 |
89 ms |
11 fps |
84.2 ms |
12 fps |
94.55 ms |
11 fps |
2048 |
410 ms |
2 fps |
383 ms |
3 fps |
366 ms |
3 fps |
Disabling the RGBCamera
Remove the RGBCamera entry from the scenario configuration file you are
using.
Lowering the RGBCamera resolution
Lowering the resolution of the RGBCamera can also help speed things up.
Create a custom scenario and in the
configuration block for the RGBCamera set the
CaptureWidth and CaptureHeight.
See RGBCamera for more details.
Changing ticks per capture
The camera sample rate can be reduced to increase the average frames per second.
See Sensor Objects and the Hz parameter for more info.
Sonar Sensors
The sonar sensors can also be taxing on performance. There’s a number of things that can be done to help improve their performance as well.
Lowering Octree Resolution
The Octree resolution has a large impact on sonar performance. The higher octree_min
is, the less leaves there are to search through, and the faster it’ll run. This will have an
impact on image quality, especially at close distances. If most objects that are being
inspected are a ways away, this parameter can be safely increased quite a bit.
See Configuring Octree for info on how to do that.
Changing ticks per capture
The sonar sample rate can be reduced to increase the average frames per second.
See Sensor Objects and the Hz parameter for more info.
Disable Viewport Rendering
Rendering the viewport window can be unnecessary during training. You can
disable the viewport with the
should_render_viewport()
method.
At lower RGBCamera resolutions, you can expect a ~40% frame time reduction.
Change Render Quality
You can adjust HoloOcean to render at a lower (or higher) quality to improve
performance. See the
set_render_quality() method
Below is a comparison of render qualities and the frame time in ms
Quality |
MazeWorld |
UrbanCity |
AndroidPlayground |
|---|---|---|---|
|
10.34 |
12.33 |
6.63 |
|
10.53 |
15.06 |
6.84 |
|
14.81 |
19.19 |
8.66 |
|
15.58 |
21.78 |
9.2 |