Only blit depth if necessary for Rasterizer.

Author: duburcqa

genesis/ext/pyrender/renderer.py

@@ -1043,7 +1043,8 @@ def _read_main_framebuffer(self, scene, flags):
             glBindFramebuffer(GL_READ_FRAMEBUFFER, self._main_fb_ms)
             glBindFramebuffer(GL_DRAW_FRAMEBUFFER, self._main_fb)
             glBlitFramebuffer(0, 0, width, height, 0, 0, width, height, GL_COLOR_BUFFER_BIT, GL_LINEAR)
-            glBlitFramebuffer(0, 0, width, height, 0, 0, width, height, GL_DEPTH_BUFFER_BIT, GL_NEAREST)
+            if flags & RenderFlags.RET_DEPTH:
+                glBlitFramebuffer(0, 0, width, height, 0, 0, width, height, GL_DEPTH_BUFFER_BIT, GL_NEAREST)
         glBindFramebuffer(GL_READ_FRAMEBUFFER, self._main_fb)
 
         # Read depth if requested

genesis/utils/misc.py

@@ -11,7 +11,7 @@
 import sys
 from dataclasses import field
 from itertools import combinations
-from typing import Any, Callable, NoReturn, Optional, Type, Sequence
+from typing import Any, NoReturn, Optional, Type, Sequence
 
 import cpuinfo
 import gstaichi as ti

tests/test_render.py

@@ -6,8 +6,6 @@
 import time
 
 import numpy as np
-import OpenGL.error
-import pyglet
 import pytest
 import torch
 
@@ -17,6 +15,7 @@
 from genesis.utils import set_random_seed
 from genesis.utils.image_exporter import FrameImageExporter, as_grayscale_image
 from genesis.utils.misc import tensor_to_array
+from genesis.vis.keybindings import Key
 
 from .conftest import IS_INTERACTIVE_VIEWER_AVAILABLE
 from .utils import assert_allclose, assert_array_equal, get_hf_dataset, rgb_array_to_png_bytes
@@ -1204,7 +1203,7 @@ def on_key_press(self, symbol: int, modifiers: int):
     assert pyrender_viewer.is_active
 
     # Try saving the current frame
-    pyrender_viewer.dispatch_event("on_key_press", pyglet.window.key.S, 0)
+    pyrender_viewer.dispatch_event("on_key_press", Key.S, 0)
 
     # Waiting for request completion
     if pyrender_viewer.run_in_thread:
@@ -1219,7 +1218,9 @@ def on_key_press(self, symbol: int, modifiers: int):
         pyrender_viewer.dispatch_pending_events()
         pyrender_viewer.dispatch_events()
 
-    # Skip the rest of the test if necessary
+    # Skip the rest of the test if necessary.
+    # Similarly, 'glBlitFramebuffer(..., GL_DEPTH_BUFFER_BIT, GL_NEAREST)' involved in offscreen rendering of depth map
+    # with interactive viewer enabled takes ages on old CPU-based Mesa rendering driver (~15000s).
     if sys.platform == "linux":
         glinfo = pyrender_viewer.context.get_info()
         renderer = glinfo.get_renderer()
@@ -1646,16 +1647,5 @@ def test_rasterizer_camera_sensor_with_viewer(renderer):
 
     scene.step()
 
-    if sys.platform == "linux":
-        glinfo = pyrender_viewer.context.get_info()
-        renderer = glinfo.get_renderer()
-        if "llvmpipe" in renderer:
-            llvm_version = re.search(r"LLVM\s+([\d.]+)", renderer).group(1)
-            if llvm_version < "20":
-                pytest.skip(
-                    "OpenGL function 'glBlitFramebuffer' involved in offscreen rendering with the interactive viewer "
-                    "takes ages on old CPU-based Mesa rendering driver. Skipping..."
-                )
-
     data = camera_sensor.read()
     assert data.rgb.float().std() > 1.0, "RGB std too low, image may be blank"

tests/test_viewer.py

@@ -37,6 +37,7 @@ def test_interactive_viewer_disable_viewer_defaults():
     # Test with keyboard shortcuts DISABLED
     scene = gs.Scene(
         viewer_options=gs.options.ViewerOptions(
+            run_in_thread=(sys.platform == "linux"),
             disable_help_text=True,
             disable_default_keybinds=True,
         ),