fly.py is slow with vision = True (VisionAviary) about gym-pybullet-drones

[thaipduong]

Awesome! I'll take a look. Thanks, @JacopoPan

[JacopoPan]

Hi @thaipduong

yes, that is expected, of course, the slowdown will be proportional to:

• number of UAVs num_drones (Not the the vision is in each UAV frame so these are all separate render views)
• resolution self.IMG_RES = np.array([64, 48]) in BaseAviary
• framerate of capture self.IMG_FRAME_PER_SEC = 24 in BaseAviary
  For the sake of collecting data, I would recommend running headless (gui=False) and to use an Ubuntu machine and GPU
  In this case you can uncomment line 203 in BaseAviary

if platform == "linux": p.setAdditionalSearchPath(pybullet_data.getDataPath()); plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin"); print("plugin=", plugin)

for hardware acceleration (see section "Plugins" of PyBullet manual)

[thaipduong]

I see. Thank you, @JacopoPan
Just to confirm, there is currently no lidar on the drone, right?

[JacopoPan]

Sorry, I forgot to answer your second question.

I didn't implement anything specifically in this repo, but if you look at another work-in-progress env I have here there is an example of how to use PyBullet's rayTest to determine if there is line-of-sight between agents.