Texture issue when using DIRECT rendering with EGL plugin

[chriskeraly-rios]

Hi, I'm running this test script with and without the EGL plugin, and am getting artifacts in the texture rendering when I set use_egl to True. See the outputs attached:

without EGL:
console output:

pybullet build time: Dec  1 2020 13:16:17
Time per render = 0.04163506507873535, fps = 24.0182163306078

with EGL:
console output:

pybullet build time: Dec  1 2020 13:16:17  
EGL device choice: 0 of 4 (from EGL_VISIBLE_DEVICES) 
Loaded EGL 1.5 after reload. 
GL_VENDOR=NVIDIA Corporation 
GL_RENDERER=GeForce RTX 2070 with Max-Q Design/PCIe/SSE2
GL_VERSION=4.6.0 NVIDIA 450.80.02
GL_SHADING_LANGUAGE_VERSION=4.60 NVIDIA
Version = 4.6.0 NVIDIA 450.80.02
Vendor = NVIDIA Corporation
Renderer = GeForce RTX 2070 with Max-Q Design/PCIe/SSE2
ven = NVIDIA Corporation
ven = NVIDIA Corporation
Time per render = 0.0034194421768188477, fps = 292.4453604682133
Destroy EGL OpenGL window

import pybullet as pb
import pybullet_data
import matplotlib.pyplot as plt
import time

import pkgutil

import random

def test_rendering(urdf_path,  use_egl = False):

    physicsClient = pb.connect(pb.DIRECT)

    if use_egl:
        egl = pkgutil.get_loader('eglRenderer')
        pb.loadPlugin(egl.get_filename(), "_eglRendererPlugin", physicsClientId=physicsClient)
    pb.setAdditionalSearchPath(pybullet_data.getDataPath())

    cubeStartPos = [0, 0, 0]
    cubeStartOrientation = pb.getQuaternionFromEuler([0,0,0])
    boxId = pb.loadURDF(urdf_path,cubeStartPos, cubeStartOrientation)
    pb.stepSimulation()
    cubePos, cubeOrn = pb.getBasePositionAndOrientation(boxId)

    viewMatrix = pb.computeViewMatrix(
        cameraEyePosition=[0, 0, -0.2],
        cameraTargetPosition=[0, 0, 0],
        cameraUpVector=[0, 1, 0])

    projectionMatrix = pb.computeProjectionMatrixFOV(
        fov=45.0,
        aspect=1.0,
        nearVal=0.1,
        farVal=3.1)

    test_frames = 100
    st = time.time()
    for i in range(test_frames):
        projectionMatrix = pb.computeProjectionMatrixFOV(
            fov=45.0 + random.random(),
            aspect=1.0,
            nearVal=0.1,
            farVal=3.1)

        width, height, rgbImg, depthImg, segImg = pb.getCameraImage(
            width=224,
            height=224,
            viewMatrix=viewMatrix,
            projectionMatrix=projectionMatrix)
    duration = time.time() - st
    print(f"Time per render = {duration/test_frames}, fps = {test_frames/duration}")
    plt.imshow(rgbImg)
    plt.show()

if __name__=="__main__":
    urdf_path = "/path/to/my/urdf"
    test_rendering(urdf_path, use_egl=False)