activate EGL + add rendertest.py

examples/pybullet/examples/rendertest.py

@@ -0,0 +1,140 @@
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
+
+import os
+import sys
+import time
+import itertools
+import subprocess
+import numpy as np
+import pybullet
+from multiprocessing import Process
+
+camTargetPos = [0,0,0]
+cameraUp = [0,0,1]
+cameraPos = [1,1,1]
+
+pitch = -10.0
+roll=0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 200
+nearPlane = 0.01
+farPlane = 100
+fov = 60
+
+import matplotlib.pyplot as plt
+
+
+class BulletSim():
+    def __init__(self, connection_mode, *argv):
+        self.connection_mode = connection_mode
+        self.argv = argv
+
+    def __enter__(self):
+        print("connecting")
+        optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
+        optionstring += ' --window_backend=2 --render_device=0'
+        #optionstring += ' --window_backend=X11 --render_device=0'
+
+        print(self.connection_mode, optionstring,*self.argv)
+        cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
+        if cid < 0:
+            raise ValueError
+        print("connected")
+        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
+        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
+        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
+        pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
+
+        pybullet.resetSimulation()
+        pybullet.loadURDF("plane.urdf",[0,0,-1])
+        pybullet.loadURDF("r2d2.urdf")
+        pybullet.loadURDF("duck_vhacd.urdf")
+        pybullet.setGravity(0,0,-10)
+
+    def __exit__(self,*_,**__):
+        pybullet.disconnect()
+
+def test(num_runs=100, shadow=1, plot=False):
+    if plot:
+        plt.ion()
+
+        img = np.random.rand(200, 320)
+        #img = [tandard_normal((50,100))
+        image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+        ax = plt.gca()
+
+
+    times = np.zeros(num_runs)
+    yaw_gen = itertools.cycle(range(0,360,10))
+    for i, yaw in zip(range(num_runs),yaw_gen):
+        pybullet.stepSimulation()
+        start = time.time()
+        viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+        aspect = pixelWidth / pixelHeight;
+        projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
+        img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
+            projectionMatrix, shadow=shadow,lightDirection=[1,1,1],
+            renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+            #renderer=pybullet.ER_TINY_RENDERER)
+        stop = time.time()
+        duration = (stop - start)
+        if (duration):
+        	fps = 1./duration
+        	#print("fps=",fps)
+        else:
+        	fps=0
+        	#print("fps=",fps)
+        #print("duraction=",duration)
+        #print("fps=",fps)
+        times[i] = fps
+
+        if plot:
+            rgb = img_arr[2]
+            image.set_data(rgb)#np_img_arr)
+            ax.plot([0])
+            #plt.draw()
+            #plt.show()
+            plt.pause(0.01)
+
+    print("mean: {0} for {1} runs".format(np.mean(times), num_runs))
+    print("")
+
+
+if __name__ == "__main__":
+
+    '''
+    with BulletSim(pybullet.DIRECT):
+        print("Testing DIRECT w/ shadow")
+        test()
+
+        print("Testing DIRECT w/o shadow")
+        test(shadow=0)
+
+    with BulletSim(pybullet.GUI):
+        print("Testing GUI")  # could have OpenGL?
+        test()
+
+        print("Testing GUI w/o shadow")  # could have OpenGL?
+        test(shadow=0)
+
+
+    server_bin = "../../../build_cmake/examples/ExampleBrowser/App_ExampleBrowser"
+    server_f = lambda : subprocess.run([server_bin],shell=True)
+    server = Process(target=server_f)
+    #server.start()
+    '''
+    
+    with BulletSim(pybullet.GUI):
+        logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
+        print("Testing GUI")
+        test()
+
+        print("Testing GUI w/o shadow")
+        test(shadow=0)
+        pybullet.stopStateLogging(logId)
+		
+    #server.join()

setup.py

@@ -22,7 +22,7 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
 CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
 CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
-#CXX_FLAGS += '-DBT_USE_EGL '  # uncomment for EGL (old EGL versions fail)
+CXX_FLAGS += '-DBT_USE_EGL '  # uncomment for EGL (old EGL versions fail)
 
 
 # libraries += [current_python]