Isaac Sim MultiCamera and MultiGPU performance test is poor

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: 4*A6000 and DeskTop RTX4060
  • Driver Version: 570.86.15 and 572.16

Topic Description

Detailed Description

When instantiating 30 cameras, Isaac Sim runs very slowly. The effect of 4-card A6000 and RTX4060 laptops is similar. I don’t think the performance of multi card GPUs is fully utilized, but I saw 4 Kit instances and provided the following test code.

image
image1114×1203 98.3 KB

I understand that multi GPU should have better support on multiple cameras, and I have also disabled IOMMU.
Test screenshot of 4-card A6000:
51182420014a246d7fea7a67f8f36fd
51182420014a246d7fea7a67f8f36fd2598×1560 313 KB

Test screenshot of RTX4060 laptop:

4d51f63f68b359b9b6159ece462aedb
4d51f63f68b359b9b6159ece462aedb1645×1255 186 KB

Simple test script, simply run it in Script Editor:

from isaacsim.sensors.camera import Camera
import isaacsim.core.utils.numpy.rotations as rot_utils
import numpy as np
from isaacsim.core.api.world import World
import matplotlib.pyplot as plt

world = World()
world.reset()

for i in range(1, 30):
    camera_index = f"{i:02d}"
    cam_prim_path =  "_" + camera_index 
    camera = Camera(
        prim_path="/World/Xform/Cameras" + cam_prim_path,
        resolution=(640, 480), 
    )
    camera.initialize()
    print(f"Camera {i} initialized")