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clean test scripts

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This commit is contained in:
Max Argus
2018-07-17 13:50:10 +02:00
parent 425ab144bb
commit c1d6c6b07d
3 changed files with 40 additions and 23 deletions
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2
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -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);

28
examples/pybullet/examples/rendertest.py
View File

@@ -19,8 +19,8 @@ pitch = -10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 200
pixelWidth = 84 # 320
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]))

33
examples/pybullet/examples/rendertest_sync.py
View File

@@ -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.connect(p.DIRECT)
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)
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)
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]))