no-rendering mode does not improve FPS under a lot of traffic

[GarethZhang]

Hi all,

I am trying to create a lot of traffic in Carla, e.g. Town06_Opt, by adding 1000 vehicles and 100 pedestrians. Currently, I am experiencing 4 FPS simulation speed, and it would be great if I can get some advice on my current set up and possible improvements.

To elaborate on what I am doing, I am trying to simulate a very busy traffic scene and at the same time to record live LiDAR scans from the ego vehicle.

The following are my current simulation setup:

1. Hardward: Ryzen 3800X + RTX 2060 Super + 32 GB RAM
2. Simulation is done in Unreal Engine Editor and I have turned off the option to "Use less CPU in background"
3. Simulation is done in synchronomous mode and with no-rendering option turned on.

Here are the commands I executed to mimic a very busy traffic:

1. python3 spawn_npc.py -n 400 -w 100 --sync to spawn actors (fewer than I actually need) using example script. Note that FPS drops from 60 FPS to 5 FPS after this.
2. python3 open3d_lidar.py --semantic to create an ego vehicle with LiDAR to record scans
3. python3 no_rendering_mode.py --no-rendering to enable no rendering mode

Some questions I have:

1. Having no rendering mode on does not seem to affect FPS. I thought it was supposed to help a lot under busy traffic according to: https://carla.readthedocs.io/en/latest/adv_rendering_options/#quality-levels
2. Is there a way to identify which is the bottleneck in my simulation pipeline? And some advice on how to improve this?

Thanks! Any help is appreciated!

[corkyw10]

Hi @GarethZhang I can see your question was addressed in the forum. I will leave a link here for anyone interested and close this issue.

[GarethZhang]

@corkyw10 Thanks!