Adds Raycaster with tracking for Dynamic Meshes

docs/source/api/lab/isaaclab.utils.rst

@@ -20,6 +20,7 @@
       timer
       types
       warp
+      mesh
 
    .. Rubric:: Functions
 

scripts/benchmarks/benchmark_camera_throughput.py

@@ -0,0 +1,258 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Benchmark throughput of different camera implementations.
+
+This script benchmarks per-step time while varying:
+- camera implementation: standard camera, tiled camera, warp ray-caster camera
+- image resolutions (height x width)
+- number of environments
+
+Sensors are added to the scene config before `InteractiveScene` is constructed.
+Each benchmark run initializes a fresh simulation and scene and tears it down.
+
+Examples:
+
+  - Benchmark all camera types across resolutions:
+      ./isaaclab.sh -p scripts/benchmarks/benchmark_camera_throughput.py \\
+        --num_envs 256 512 --impls standard,tiled,ray_caster \\
+        --resolutions 240x320,480x640 --steps 200 --warmup 20 --headless
+
+  - Only standard camera at 720p:
+      ./isaaclab.sh -p scripts/benchmarks/benchmark_camera_throughput.py \\
+        --num_envs 256 --impls standard --resolutions 720x1280 --steps 200 --warmup 20 --headless
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+import csv
+import os
+import time
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Benchmark throughput of different camera implementations.")
+parser.add_argument(
+    "--num_envs",
+    type=int,
+    nargs="+",
+    default=[256, 512, 1024],
+    help="List of environment counts to benchmark (e.g., 256 512 1024).",
+)
+parser.add_argument(
+    "--impls",
+    type=str,
+    default="standard,tiled,ray_caster",
+    help="Comma-separated list of implementations: standard,tiled,ray_caster",
+)
+parser.add_argument(
+    "--resolutions",
+    type=str,
+    default="240x320,480x640",
+    help="Comma-separated list of HxW resolutions, e.g., 240x320,480x640",
+)
+parser.add_argument("--steps", type=int, default=500, help="Steps per run to time.")
+parser.add_argument("--warmup", type=int, default=50, help="Warmup steps per run before timing.")
+
+# Append AppLauncher CLI args and parse
+AppLauncher.add_app_launcher_args(parser)
+args_cli, _ = parser.parse_known_args()
+args_cli.enable_cameras = True
+
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sensors import CameraCfg, RayCasterCameraCfg, TiledCameraCfg, patterns
+from isaaclab.sim import SimulationContext
+from isaaclab.utils import configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+# Robot config to attach sensors under a valid prim
+from isaaclab_assets.robots.anymal import ANYMAL_D_CFG  # isort: skip
+
+
+def _parse_resolutions(res_str: str) -> list[tuple[int, int]]:
+    resolutions: list[tuple[int, int]] = []
+    for token in [s for s in res_str.split(",") if s]:
+        h, w = token.lower().split("x")
+        resolutions.append((int(h), int(w)))
+    return resolutions
+
+
+@configclass
+class CameraBenchmarkSceneCfg(InteractiveSceneCfg):
+    """Scene config with ground, light, robot, and one camera sensor per env."""
+
+    ground = AssetBaseCfg(
+        prim_path="/World/ground",
+        spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd"),
+    )
+    light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
+    )
+    robot: ArticulationCfg = ANYMAL_D_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")  # type: ignore[attr-defined]
+
+    # one cube per environment (optional target for ray-caster camera)
+    cube: RigidObjectCfg = RigidObjectCfg(
+        prim_path="{ENV_REGEX_NS}/cube",
+        spawn=sim_utils.CuboidCfg(
+            size=(0.2, 0.2, 0.2),
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True),
+            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0)),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)),
+    )
+
+    standard_camera: CameraCfg | None = None
+    tiled_camera: TiledCameraCfg | None = None
+    ray_caster_camera: RayCasterCameraCfg | None = None
+
+
+def _make_scene_cfg_standard(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg:
+    scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0)
+    scene_cfg.standard_camera = CameraCfg(
+        prim_path="{ENV_REGEX_NS}/Camera",
+        height=height,
+        width=width,
+        data_types=["rgb"],
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1e4)
+        ),
+        debug_vis=debug_vis,
+    )
+    return scene_cfg
+
+
+def _make_scene_cfg_tiled(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg:
+    scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0)
+    scene_cfg.tiled_camera = TiledCameraCfg(
+        prim_path="{ENV_REGEX_NS}/TiledCamera",
+        height=height,
+        width=width,
+        data_types=["rgb", "depth"],
+        spawn=sim_utils.PinholeCameraCfg(
+            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1e4)
+        ),
+        debug_vis=debug_vis,
+    )
+    return scene_cfg
+
+
+def _make_scene_cfg_ray_caster(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg:
+    scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0)
+    scene_cfg.ray_caster_camera = RayCasterCameraCfg(
+        prim_path="{ENV_REGEX_NS}/Robot/base",  # attach to existing prim
+        mesh_prim_paths=["/World/ground", "/World/envs/env_.*/cube"],
+        pattern_cfg=patterns.PinholeCameraPatternCfg(
+            focal_length=24.0, horizontal_aperture=20.955, height=height, width=width
+        ),
+        data_types=["distance_to_image_plane"],
+        debug_vis=debug_vis,
+    )
+    return scene_cfg
+
+
+import isaacsim.core.utils.stage as stage_utils
+
+
+def _setup_scene(scene_cfg: CameraBenchmarkSceneCfg) -> tuple[SimulationContext, InteractiveScene, float]:
+    # Create a new stage to avoid residue across runs
+    stage_utils.create_new_stage()
+    sim_cfg = sim_utils.SimulationCfg(device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
+    sim.set_camera_view((2.5, 0.0, 4.0), (0.0, 0.0, 2.0))
+    setup_time_begin = time.perf_counter_ns()
+    scene = InteractiveScene(scene_cfg)
+    setup_time_end = time.perf_counter_ns()
+    print(f"[INFO]: Scene creation time: {(setup_time_end - setup_time_begin) / 1e6:.2f} ms")
+    reset_time_begin = time.perf_counter_ns()
+    sim.reset()
+    reset_time_end = time.perf_counter_ns()
+    print(f"[INFO]: Sim start time: {(reset_time_end - reset_time_begin) / 1e6:.2f} ms")
+    return sim, scene, sim.get_physics_dt()
+
+
+def main():
+    impls = [s.strip() for s in args_cli.impls.split(",") if s]
+    resolutions = _parse_resolutions(args_cli.resolutions)
+    results: list[dict[str, object]] = []
+
+    def _bench(num_envs: int, impl: str, height: int, width: int):
+        if impl == "standard":
+            scene_cfg = _make_scene_cfg_standard(num_envs, height, width, debug_vis=not args_cli.headless)
+            sim, scene, sim_dt = _setup_scene(scene_cfg)
+            camera_obj = scene["standard_camera"]
+            label = "StandardCamera"
+        elif impl == "tiled":
+            scene_cfg = _make_scene_cfg_tiled(num_envs, height, width, debug_vis=not args_cli.headless)
+            sim, scene, sim_dt = _setup_scene(scene_cfg)
+            camera_obj = scene["tiled_camera"]
+            label = "TiledCamera"
+        elif impl == "ray_caster":
+            scene_cfg = _make_scene_cfg_ray_caster(num_envs, height, width, debug_vis=not args_cli.headless)
+            sim, scene, sim_dt = _setup_scene(scene_cfg)
+            camera_obj = scene["ray_caster_camera"]
+            label = "RayCasterCamera"
+        else:
+            raise ValueError(f"Unknown impl: {impl}")
+
+        # Warmup
+        for _ in range(args_cli.warmup):
+            sim.step()
+            camera_obj.update(dt=sim_dt)
+        # Timing
+        t0 = time.perf_counter_ns()
+        for _ in range(args_cli.steps):
+            sim.step()
+            camera_obj.update(dt=sim_dt)
+        t1 = time.perf_counter_ns()
+        per_step_ms = (t1 - t0) / args_cli.steps / 1e6
+        print(f"[INFO]: {label}: {num_envs} envs, res={height}x{width}, per-step={per_step_ms:.3f} ms")
+        results.append({
+            "impl": impl,
+            "num_envs": num_envs,
+            "height": height,
+            "width": width,
+            "per_step_ms": float(per_step_ms),
+        })
+        # Teardown
+        sim.clear_instance()
+
+    for num_envs in args_cli.num_envs:
+        for impl in impls:
+            print(f"\n[INFO]: Benchmarking {impl} cameras with {num_envs} envs")
+            for h, w in resolutions:
+                _bench(num_envs, impl, h, w)
+
+    # Save results
+    os.makedirs("outputs/benchmarks", exist_ok=True)
+    csv_path = os.path.join("outputs/benchmarks", "camera_throughput.csv")
+    md_path = os.path.join("outputs/benchmarks", "camera_throughput.md")
+
+    fieldnames = ["impl", "num_envs", "height", "width", "per_step_ms"]
+    with open(csv_path, "w", newline="") as f:
+        writer = csv.DictWriter(f, fieldnames=fieldnames)
+        writer.writeheader()
+        writer.writerows(results)
+    with open(md_path, "w") as f:
+        f.write("| impl | num_envs | height | width | per_step_ms |\n")
+        f.write("|---|---:|---:|---:|---:|\n")
+        for r in results:
+            f.write(f"| {r['impl']} | {r['num_envs']} | {r['height']} | {r['width']} | {r['per_step_ms']:.3f} |\n")
+    print(f"[INFO]: Saved benchmark results to {csv_path} and {md_path}")
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()