Improving Holodeck Performance¶
Holodeck 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)
| 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 number of ticks per capture can be adjusted to give a lower average frame time.
See the
set_ticks_per_capture() method.
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 Holodeck 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 |
|---|---|---|---|
0 |
10.34 | 12.33 | 6.63 |
1 |
10.53 | 15.06 | 6.84 |
2 |
14.81 | 19.19 | 8.66 |
3 |
15.58 | 21.78 | 9.2 |