UnrealCV Dev For UnrealZoo shared-memory transport ================================================== The shared-memory implementation in UnrealCV Dev for `UnrealZoo `_ draws on the SPEAR project paper (`https://arxiv.org/abs/2607.06701`) and source repository (`https://github.com/spear-sim/spear`). This section is a closed-build measurement of the UnrealZoo distribution. The test environment was: * Windows 11 * AMD Ryzen 9 5950X, 16 cores and 32 logical processors * NVIDIA RTX 6000D * Epic Games Unreal Engine 5.7.4 * 3 independent rounds per table row and transport * 10 warm-up captures per transport at the start of every round * 20 measured captures per round, or 60 measured captures per table cell TCP and shared-memory requests were alternated to reduce request-order bias. The reported latency is the arithmetic mean of all 60 end-to-end client samples. TCP timing includes receipt of the complete 32-bit BGRA BMP payload. Shared-memory timing includes the request, JSON parsing, opening the named mapping, and copying every mapped byte. FPS is ``1000 / mean latency`` and therefore represents serialized client acquisition throughput, not unloaded viewport frame rate. The standard-camera rows use ``vget /camera/0/lit bmp`` versus ``vget /camera/0/lit_shared``. Panorama rows use ``vget /camera/0/panoramic bmp WIDTH HEIGHT`` versus ``vget /camera/0/panoramic_shared WIDTH HEIGHT``. At 4K, both transports carry the same 33,177,600 pixel bytes; the BMP response has an additional 54-byte header. .. list-table:: Standard Camera :header-rows: 1 :widths: 14 16 16 14 14 14 * - Resolution - TCP mean - Shared mean - TCP FPS - Shared FPS - Speedup * - 480p (640x480) - 24.62 ms - 15.61 ms - 40.62 - 64.05 - 1.58x * - 720p (1280x720) - 40.39 ms - 12.77 ms - 24.76 - 78.30 - 3.16x * - 1080p (1920x1080) - 62.63 ms - 11.14 ms - 15.97 - 89.77 - 5.62x * - 2K (2560x1440) - 93.75 ms - 10.39 ms - 10.67 - 96.20 - 9.02x * - 4K (3840x2160) - 224.76 ms - 15.34 ms - 4.45 - 65.21 - 14.66x * - 8K (7680x4320) - 713.61 ms - 55.25 ms - 1.40 - 18.10 - 12.92x .. list-table:: Panorama :header-rows: 1 :widths: 14 16 16 14 14 14 * - Resolution - TCP mean - Shared mean - TCP FPS - Shared FPS - Speedup * - 480p (640x480) - 66.21 ms - 46.74 ms - 15.10 - 21.39 - 1.42x * - 720p (1280x720) - 77.90 ms - 49.40 ms - 12.84 - 20.24 - 1.58x * - 1080p (1920x1080) - 103.37 ms - 56.70 ms - 9.67 - 17.64 - 1.82x * - 2K (2560x1440) - 136.46 ms - 61.85 ms - 7.33 - 16.17 - 2.21x * - 4K (3840x2160) - 250.10 ms - 77.47 ms - 4.00 - 12.91 - 3.23x * - 8K (7680x4320) - 878.86 ms - 177.02 ms - 1.14 - 5.65 - 4.96x MQRC ---- MQRC uses ``vget /camera/0/mqrc/lit bmp`` versus ``vget /camera/0/mqrc/lit_shared``. Both paths return the same BGRA8 pixel payload, so the comparison includes MQRC rendering and HDR-to-BGRA8 conversion as well as transport. All 720 measured MQRC requests below succeeded. .. list-table:: Movie Quality Render Component :header-rows: 1 :widths: 14 16 16 14 14 14 * - Resolution - TCP mean - Shared mean - TCP FPS - Shared FPS - Speedup * - 480p (640x480) - 41.73 ms - 20.89 ms - 23.96 - 47.87 - 2.00x * - 720p (1280x720) - 59.10 ms - 26.80 ms - 16.92 - 37.31 - 2.21x * - 1080p (1920x1080) - 112.45 ms - 36.62 ms - 8.89 - 27.30 - 3.07x * - 2K (2560x1440) - 170.31 ms - 54.72 ms - 5.87 - 18.27 - 3.11x * - 4K (3840x2160) - 298.29 ms - 108.78 ms - 3.35 - 9.19 - 2.74x * - 8K (7680x4320) - 1243.12 ms - 350.26 ms - 0.80 - 2.85 - 3.55x Cross-simulator comparison -------------------------- The following table is an additional product-level comparison against `CARLA `_, `SimWorld `_, and `AirSim `_. It does not replace the UnrealZoo measurements above. The UnrealCV shared-memory column was measured using the current UnrealCV development build and ``vget /camera/0/lit_shared``. Each result uses three rounds, ten warm-up captures per round, and twenty measured captures per round, for 60 measured samples per cell. FPS is ``1000 / arithmetic mean client latency``. Simulators ran serially and offscreen. .. list-table:: Mean latency / effective FPS :header-rows: 1 :widths: 16 24 20 20 20 18 12 * - Resolution - UnrealCV shared - CARLA - SimWorld - AirSim - Fastest - UnrealCV rank * - 640x480 - 20.34 ms / 49.16 FPS - 14.30 ms / 69.94 FPS - 54.82 ms / 18.24 FPS - 14.51 ms / 68.91 FPS - CARLA - 3 * - 1280x720 - 21.92 ms / 45.62 FPS - 20.37 ms / 49.09 FPS - 86.49 ms / 11.56 FPS - 26.42 ms / 37.85 FPS - CARLA - 2 * - 1920x1080 - 42.36 ms / 23.61 FPS - 36.94 ms / 27.07 FPS - 128.09 ms / 7.81 FPS - 77.00 ms / 12.99 FPS - CARLA - 2 * - 2560x1440 - 44.65 ms / 22.40 FPS - 57.44 ms / 17.41 FPS - 194.84 ms / 5.13 FPS - 124.48 ms / 8.03 FPS - UnrealCV shared - 1 * - 3840x2160 - 61.52 ms / 16.25 FPS - 119.28 ms / 8.38 FPS - 388.32 ms / 2.58 FPS - 256.77 ms / 3.89 FPS - UnrealCV shared - 1 * - 7680x4320 - 120.78 ms / 8.28 FPS - 469.24 ms / 2.13 FPS - 1438.66 ms / 0.70 FPS - 960.71 ms / 1.04 FPS - UnrealCV shared - 1 AirSim returns three-byte RGB pixels; the other columns use four-byte BGRA pixels. The simulators use different scenes and rendering pipelines, so this is an end-to-end acquisition comparison rather than a transport-only test. * CARLA: `paper `__, `repository `__ * SimWorld: `documentation `__, `repository `__ * AirSim: `paper `__, `repository `__