I spawn 50 cars 50 pedestrians and my car with only one camera on 700x700 and I hit record and the FPS is 15. Cars hit each other, they drive nudging, and I can't do a decent record with even one camera when I will need four at least.
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#606 - Simulator very slow in manual mode This issue has been brought up before many times: I wonder why is this the case? Why games like GTA V, Pubg or anything run with no lag 60fps as expected on a GPU like mine and even on weaker gpus, and a simple CAR simulator runs on 10-15 fps? I know roughly how games work, but I can't think of a reason why this happens. #1580 - Low fps on carla 0.9.5 when cpu, gpu and memory usage is low #1207 - Carla 0.9.2 gets slower after every iteration of scenario_runner #1121 - Increase Framerate of the Server (0.9.2) #Trainz simulator 12 low fps manual Most of these issues went unsolved for them. Since this project was created with the goal of helping scientists of Autonomous driving, deep learning, image processing research I think the most essential thing is being able to render images with decent quality and frame rate when having GPUs like that. Perhaps you could explain here what is the core reason for this. I am sure is it a technical reason, in which case haven't you considered trying to get to the root of the problem? I am sure if these crazy games today can achieve 30-60 fps on average machines, our beloved car simulator on a strong gpu can be running Thanks for your issue. The faster CARLA can do sensor simulation the better. However, here is the thing: sensor simulation is computationally very expensive. Videogames like GTA-V are optimized to render 1 camera in real-time with very large budgets and game engines created ad-hoc for that purpose. CARLA is a general Autonomous Driving simulator, which means that we need to cover many other use cases besides sensor simulation/rendering. We need to provide a general and flexible architecture to allow the extension of the CARLA server via multiple clients, we need to account for a generic mechanism to render multiple sensors others than cameras, and all of that for any map that a user can come up with. So even if you got a new NVIDIA RTX XYZ, how good is your CPU? Did you get the latest Xeon?ĭown to the technical bottleneck: Unreal Engine 4.
Now, what are we doing to solve all these issues and make CARLA faster? Long story short, rendering large maps over 1 GPU without proper optimization for that map is going to generate a bottleneck.
I opened an issue about this ( carla-simulator#2617) and I found that many others had been struggling with this. Then I realized the solution is in setting the simulation time to fixed time setting. I was confused regarding the use of fixed _delta_time and synchronous mode until I realized the order of the game loop, which is as follows: world.tick() sending the tick to the server and blocking!, then -> on_tick() callbacks get called and sensor.listen() callbacks get called but these two's order might change, then returning from world.tick()! During these you can run the client loop on any fps if you separate the world.tick()-ing to another thread which is what I did.