nprocs_tests = args.num_procs
performance_all = {}
title_list = []
collect_title_list = True
for nprocs in nprocs_tests:
default_settings["num_processes"] = nprocs
performance = []
for resolution in resolutions:
default_settings["width"] = default_settings["height"] = resolution
resolution_label = f"{resolution} x {resolution}"
per_resolution_perf = {}
for key, value in benchmark_items.items():
per_group_perf = {}
for g in dr.ABTestGroup:
demo_runner = dr.DemoRunner(default_settings, dr.DemoRunnerType.AB_TEST)
run_label = f"(nprocs={nprocs}, resolution={resolution_label}, sensors={key}, group={g.name})"
print(f"{f' Starting run {run_label} ':-^100}")
settings = default_settings.copy()
settings.update(value)
# set new value before the test group run
if g == dr.ABTestGroup.TEST:
settings[args.feature] = test_val
per_group_perf[g] = demo_runner.benchmark(settings, g)
result = f" FPS {run_label}: {per_group_perf[g]['fps']:.1f} "
print(f"{result:-^100}")
if collect_title_list:
title_list.append(key)
per_resolution_perf[key] = per_group_perf
collect_title_list = False
performance.append(per_resolution_perf)
parser.add_argument("--seed", type=int, default=1)
args = parser.parse_args()
default_settings = dr.default_sim_settings.copy()
default_settings["silent"] = True
default_settings["seed"] = args.seed
default_settings["save_png"] = False
default_settings["print_semantic_scene"] = False
default_settings["print_semantic_mask_stats"] = False
default_settings["compute_shortest_path"] = False
default_settings["compute_action_shortest_path"] = False
default_settings["max_frames"] = args.max_frames
demo_runner = dr.DemoRunner(default_settings, dr.DemoRunnerType.BENCHMARK)
benchmark_items = {
"rgb": {},
"rgbd": {"depth_sensor": True},
"depth_only": {"color_sensor": False, "depth_sensor": True},
"semantic_only": {"color_sensor": False, "semantic_sensor": True},
"rgbd_semantic": {"depth_sensor": True, "semantic_sensor": True},
}
# resolutions = [128] # (debug)
resolutions = [128, 256, 512]
performance = []
for resolution in resolutions:
default_settings["width"] = default_settings["height"] = resolution
"compute_action_shortest_path"] = args.compute_action_shortest_path
settings["seed"] = args.seed
settings["silent"] = args.silent
settings["enable_physics"] = args.enable_physics
settings["physics_config_file"] = args.physics_config_file
settings["frustum_culling"] = not args.disable_frustum_culling
settings["recompute_navmesh"] = args.recompute_navmesh
return settings
settings = make_settings()
perfs = []
for i in range(1):
demo_runner = dr.DemoRunner(settings, dr.DemoRunnerType.EXAMPLE)
perf = demo_runner.example()
perfs.append(perf)
print(" ========================= Performance ======================== ")
print(
" %d x %d, total time %0.2f s," %
(settings["width"], settings["height"], perf["total_time"]),
"frame time %0.3f ms (%0.1f FPS)" %
(perf["frame_time"] * 1000.0, perf["fps"]),
)
print(" ============================================================== ")
# assert perf["fps"] > args.test_fps_regression, (
# "FPS is below regression threshold: %0.1f < %0.1f"
# % (perf["fps"], args.test_fps_regression)
