clean test scripts

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -143,6 +143,8 @@ struct TinyRendererVisualShapeConverterInternalData
             ci.m_title = "Title";
             ci.m_width = m_swWidth;
             ci.m_height = m_swHeight;
+            ci.m_renderDevice = 0;
+
             m_window->createWindow(ci);
             m_window->setWindowTitle(ci.m_title);
             b3Assert(glGetError() ==GL_NO_ERROR);

examples/pybullet/examples/rendertest.py

@@ -19,8 +19,8 @@ pitch = -10.0
 roll=0
 upAxisIndex = 2
 camDistance = 4
-pixelWidth = 320
+pixelWidth = 84 # 320
-pixelHeight = 200
+pixelHeight = 84 # 200
 nearPlane = 0.01
 farPlane = 100
 fov = 60
@@ -57,7 +57,7 @@ class BulletSim():
     def __exit__(self,*_,**__):
         pybullet.disconnect()
 
-def test(num_runs=100, shadow=1, log=True, plot=False):
+def test(num_runs=300, shadow=1, log=True, plot=False):
     if log:
         logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
 
@@ -102,33 +102,45 @@ def test(num_runs=100, shadow=1, log=True, plot=False):
             #plt.show()
             plt.pause(0.01)
 
-    print("mean: {0} for {1} runs".format(np.mean(times), num_runs))
+    mean_time = float(np.mean(times))
+    print("mean: {0} for {1} runs".format(mean_time, num_runs))
     print("")
     if log:
         pybullet.stopStateLogging(logId)
+    return mean_time
 
 
 
 if __name__ == "__main__":
 
 
+    res = []
+
     with BulletSim(pybullet.DIRECT):
         print("\nTesting DIRECT")
-        test(log=False)
+        mean_time = test(log=False,plot=True)
+        res.append(("tiny",mean_time))
 
 
     with BulletSim(pybullet.DIRECT):
-        plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
+        plugin_fn = os.path.join(pybullet.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
         plugin = pybullet.loadPlugin(plugin_fn,"_tinyRendererPlugin")
         if plugin < 0:
             print("\nPlugin Failed to load!\n")
             sys.exit()
 
         print("\nTesting DIRECT+OpenGL")
-        test()
+        mean_time = test(log=True)
+        res.append(("plugin",mean_time))
 
     with BulletSim(pybullet.GUI):
         print("\nTesting GUI")
-        test(log=False)
+        mean_time = test(log=False)
+        res.append(("egl",mean_time))
 
+    print()
+    print("rendertest.py")
+    print("back nenv fps fps_tot")
+    for r in res:
+        print(r[0],"\t",1,round(r[1]),"\t",round(r[1]))
 

examples/pybullet/examples/rendertest_sync.py

@@ -42,18 +42,22 @@ class TestEnv(gym.Env):
         self._render_width = 84
         self._render_height = 84
         # connecting
-        if self._renderer == "tiny":
+        if self._renderer == "tiny" or self._renderer == "plugin":
             optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
             p.connect(p.DIRECT, options=optionstring)
 
+            if self._renderer == "plugin":
+                plugin_fn = os.path.join(p.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
+                plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+                if plugin < 0:
+                    print("\nPlugin Failed to load! Try installing via `pip install -e .`\n")
+                    sys.exit()
+                print("plugin =",plugin)
+
         elif self._renderer == "egl":
             optionstring='--width={} --height={}'.format(self._render_width,self._render_height)
             optionstring += ' --window_backend=2 --render_device=0'
             p.connect(p.GUI, options=optionstring)
-            p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-            p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
-            p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
-            p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
 
         elif self._renderer == "debug":
           #print("Connection: SHARED_MEMORY")
@@ -62,14 +66,11 @@ class TestEnv(gym.Env):
           cid =  p.connect(p.GUI)
           p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
 
-        elif self._renderer == "plugin":
+        p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-            p.connect(p.DIRECT)
+        p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
-            plugin_fn = os.path.join(p.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
+        p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
-            plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+        p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
-            if plugin < 0:
+
-                print("\nPlugin Failed to load! Try installing via `pip install -e .`\n")
-                sys.exit()
-            print("plugin =",plugin)
 
     def __del__(self):
         p.disconnect()
@@ -129,11 +130,13 @@ if __name__ == "__main__":
     env_id = "TestEnv"
     res = []
 
-    for renderer in ('plugin', 'tiny',  'egl'):
+    for renderer in ('tiny','plugin', 'egl'):
         for i in (1,8):
             tmp = train(env_id,num_env=i,renderer=renderer)
             print(renderer,tmp)
             res.append((renderer,tmp))
     print()
+    print("rendertest_sync.py")
+    print("back nenv fps fps_tot")
     for renderer,i in res:
-        print(renderer, i,i[0]*i[1])
+        print(renderer,'\t', i[0],round(i[1]),'\t',round(i[0]*i[1]))