diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index cb1477b6c..7e615a379 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -1158,6 +1158,7 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
 			{
 				{
 					m_data->m_glApp->m_window->startRendering();
+					m_data->m_glApp->setViewport(sourceWidth, sourceHeight);
 					BT_PROFILE("renderScene");
 					getRenderInterface()->renderSceneInternal(B3_SEGMENTATION_MASK_RENDERMODE);
 				}
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
index 973fc1b68..c1cabc93d 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -995,7 +995,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
 
 	int destinationWidth = *widthPtr;
 	int destinationHeight = *heightPtr;
-	int sourceWidth = btMin(destinationWidth, (int)(m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
+	int sourceWidth =  btMin(destinationWidth, (int)(m_data->m_window->getWidth() * m_data->m_window->getRetinaScale()));
 	int sourceHeight = btMin(destinationHeight, (int)(m_data->m_window->getHeight() * m_data->m_window->getRetinaScale()));
 
 	int numTotalPixels = (*widthPtr) * (*heightPtr);
@@ -1006,10 +1006,9 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
 	{
 		if (startPixelIndex == 0)
 		{
-			glViewport(0,0, sourceWidth, sourceHeight);	
 			m_data->m_window->endRendering();
 			m_data->m_window->startRendering();
-
+			glViewport(0,0, sourceWidth, sourceHeight); 
 			B3_PROFILE("m_instancingRenderer render");
 			m_data->m_instancingRenderer->writeTransforms();
 			if (m_data->m_hasLightDirection)
@@ -1097,7 +1096,7 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
 			{
 				{
 					m_data->m_window->startRendering();
-
+					glViewport(0,0, sourceWidth, sourceHeight); 
 					BT_PROFILE("renderScene");
 					m_data->m_instancingRenderer->renderSceneInternal(B3_SEGMENTATION_MASK_RENDERMODE);
 				}
@@ -1266,6 +1265,7 @@ void EGLRendererVisualShapeConverter::resetAll()
 	m_data->m_swRenderInstances.clear();
 	m_data->m_visualShapes.clear();
 	m_data->m_graphicsIndexToSegmentationMask.clear();
+	m_data->m_instancingRenderer->removeAllInstances();
 }
 
 void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
diff --git a/examples/pybullet/examples/testrender_egl.py b/examples/pybullet/examples/testrender_egl.py
index 0f0b89e03..ee25f64b7 100644
--- a/examples/pybullet/examples/testrender_egl.py
+++ b/examples/pybullet/examples/testrender_egl.py
@@ -21,8 +21,10 @@ ax = plt.gca()
 pybullet.connect(pybullet.DIRECT)
 
 egl = pkgutil.get_loader('eglRenderer')
-
-pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+if (egl):
+	pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+else:
+	pybullet.loadPlugin("eglRendererPlugin")
 pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 
@@ -52,7 +54,7 @@ while (1):
     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=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,flags=pybullet.ER_SEGMENTATION_MASK, lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
     stop = time.time()
     print ("renderImage %f" % (stop - start))
 
diff --git a/setup.py b/setup.py
index 4c8091ce2..9ceafeeb0 100644
--- a/setup.py
+++ b/setup.py
@@ -559,7 +559,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
 	name = 'pybullet',
-	version='2.2.3',
+	version='2.2.8',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',