Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s Contributing Guidelines (Contribution Guidelines — Isaac Lab Documentation).
Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.
Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: RTX 4090
Topic Description
Detailed Description
I am using the Camera sensor impored from omni.isaac.sensor import Camera. However, as soon as I add the camera to my scene, the fps drops to around 8fps. I have tested the scene without adding any Camera, and the FPS remains at around 60 fps.
The camera is being used to capture images of boxes that spawn and then the kind of box is detected using opencv.
I add the camera using the following:
from omni.isaac.sensor import Camera
self._camera = Camera(
prim_path="/World/Camera",
position=np.array([0, 0, 4]),
resolution=(1024,720),
orientation=euler_angles_to_quats(
np.array([0, 90, 0]), degrees=True
)
)
self._camera.initialize()
self._camera.add_motion_vectors_to_frame()
Ideally, I would want my camera to be FHD, but just to get some fps out of the scene, I have reduced the camera resolution to 720p.
I understand that adding a camera means rendering another viewport in the background at camera resolution. But my GPU should be able to handle this. I have also tried destroying the main viewport so that I only have one viewport i.e. of the camera by using the following:
import omni.isaac.core.utils.viewports as vp
vp.destroy_all_viewports()
Destroying viewports doesnt give my any additional FPS.
Could someone tell me what the problem could be or if there is a better was to add a camera without dropping the fps?