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Support 3 way plot #20

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Merged
yuhongyi merged 3 commits into from
Jun 12, 2025
Merged

Support 3 way plot #20

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4685756
Support 3-way plot
yuhongyi Jun 11, 2025
6d499d6
Adaptively adjust bar width
yuhongyi Jun 12, 2025
4a4bcf8
Merge remote-tracking branch 'origin/release' into support-3-way-plot
yuhongyi Jun 12, 2025
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67 changes: 31 additions & 36 deletions examples/perf_benchmark/benchmark_plotter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -103,8 +103,7 @@ def get_resolution_dims(res):

def get_comparison_data_set():
return [
(("batch_renderer", True), ("pyrender", True)),
(("batch_renderer", True), ("batch_renderer", False)),
(("pyrender", True), ("batch_renderer", True), ("batch_renderer", False)),
]

def plot_batch_benchmark(data_file_path, width=20, height=15):
Expand All @@ -129,8 +128,8 @@ def plot_batch_benchmark(data_file_path, width=20, height=15):

# Generate difference plots for specific aspect ratios
for aspect_ratio in ["1:1", "4:3", "16:9"]:
for renderer_info_1, renderer_info_2 in get_comparison_data_set():
generate_comparison_plots(df, plots_dir, width, height, renderer_info_1, renderer_info_2, aspect_ratio=aspect_ratio)
for renderer_info_array in get_comparison_data_set():
generate_comparison_plots(df, plots_dir, width, height, renderer_info_array, aspect_ratio=aspect_ratio)

# Generate an html page to display all the plots
generatePlotHtml(plots_dir)
Expand Down Expand Up @@ -198,11 +197,10 @@ def generate_individual_plots(df, plots_dir, width, height):
plt.savefig(plot_filename)
plt.close()

def generate_comparison_plots(df, plots_dir, width, height, renderer_info_1, renderer_info_2, aspect_ratio=None):
renderer_1_name, renderer_1_is_rasterizer = renderer_info_1
renderer_2_name, renderer_2_is_rasterizer = renderer_info_2
rasterizer_1_str = 'rasterizer' if renderer_1_is_rasterizer else 'raytracer'
rasterizer_2_str = 'rasterizer' if renderer_2_is_rasterizer else 'raytracer'
def generate_comparison_plots(df, plots_dir, width, height, renderer_info_array, aspect_ratio=None):
renderer_name_array = [renderer_info[0] for renderer_info in renderer_info_array]
renderer_is_rasterizer_array = [renderer_info[1] for renderer_info in renderer_info_array]
rasterizer_str_array = ['rasterizer' if renderer_is_rasterizer else 'raytracer' for renderer_is_rasterizer in renderer_is_rasterizer_array]

# Filter by aspect ratio if specified
if aspect_ratio:
Expand All @@ -223,11 +221,9 @@ def generate_comparison_plots(df, plots_dir, width, height, renderer_info_1, ren
mjcf_data = df[df['mjcf'] == mjcf]

# Get resolutions available for both renderer_1 and renderer_2
renderer_1_res = set(zip(mjcf_data[(mjcf_data['renderer'] == renderer_1_name) & (mjcf_data['rasterizer'] == renderer_1_is_rasterizer)]['resX'],
mjcf_data[(mjcf_data['renderer'] == renderer_1_name) & (mjcf_data['rasterizer'] == renderer_1_is_rasterizer)]['resY']))
renderer_2_res = set(zip(mjcf_data[(mjcf_data['renderer'] == renderer_2_name) & (mjcf_data['rasterizer'] == renderer_2_is_rasterizer)]['resX'],
mjcf_data[(mjcf_data['renderer'] == renderer_2_name) & (mjcf_data['rasterizer'] == renderer_2_is_rasterizer)]['resY']))
common_res = renderer_1_res.intersection(renderer_2_res)
renderer_resolutions = [set(zip(mjcf_data[(mjcf_data['renderer'] == renderer_name) & (mjcf_data['rasterizer'] == renderer_is_rasterizer)]['resX'],
mjcf_data[(mjcf_data['renderer'] == renderer_name) & (mjcf_data['rasterizer'] == renderer_is_rasterizer)]['resY'])) for renderer_name, renderer_is_rasterizer in renderer_info_array]
common_res = set.intersection(*renderer_resolutions)

# continue if there is no data
if len(common_res) == 0:
Expand All @@ -237,55 +233,54 @@ def generate_comparison_plots(df, plots_dir, width, height, renderer_info_1, ren
# Plot comparison for each resolution
for resX, resY in sorted(common_res, key=lambda x: x[0] * x[1]):
plt.figure(figsize=(width, height))

renderer_1_data = mjcf_data[(mjcf_data['renderer'] == renderer_1_name) &
(mjcf_data['rasterizer'] == renderer_1_is_rasterizer) &
(mjcf_data['resX'] == resX) &
(mjcf_data['resY'] == resY)]
renderer_2_data = mjcf_data[(mjcf_data['renderer'] == renderer_2_name) &
(mjcf_data['rasterizer'] == renderer_2_is_rasterizer) &
(mjcf_data['resX'] == resX) &
renderer_data_array = []
for renderer_name, renderer_is_rasterizer in renderer_info_array:
renderer_data = mjcf_data[(mjcf_data['renderer'] == renderer_name) &
(mjcf_data['rasterizer'] == renderer_is_rasterizer) &
(mjcf_data['resX'] == resX) &
(mjcf_data['resY'] == resY)]
renderer_data_array.append(renderer_data)

# Match batch sizes and calculate difference
common_batch = set(renderer_1_data['n_envs']).intersection(set(renderer_2_data['n_envs']))
common_batch = set.intersection(*[set(renderer_data['n_envs']) for renderer_data in renderer_data_array])
batch_sizes = sorted(list(common_batch))

renderer_1_fps = renderer_1_data[renderer_1_data['n_envs'].isin(batch_sizes)]['fps'].values
renderer_2_fps = renderer_2_data[renderer_2_data['n_envs'].isin(batch_sizes)]['fps'].values
diff_fps = renderer_1_fps / renderer_2_fps
fps_array = []
for renderer_data in renderer_data_array:
fps_array.append(renderer_data[renderer_data['n_envs'].isin(batch_sizes)]['fps'].values)

# Create bar chart
x = np.arange(len(batch_sizes))
bar_width = 0.35
bar_width = 0.8 / len(renderer_info_array)

# Plot bars
bars1 = plt.bar(x - bar_width/2, renderer_1_fps, bar_width, label=f'{renderer_1_name} {rasterizer_1_str}')
bars2 = plt.bar(x + bar_width/2, renderer_2_fps, bar_width, label=f'{renderer_2_name} {rasterizer_2_str}')
bar_groups = [plt.bar(x + i * bar_width, fps, bar_width, label=f'{renderer_name} {rasterizer_str}') for i, (fps, renderer_name, rasterizer_str) in enumerate(zip(fps_array, renderer_name_array, rasterizer_str_array))]

# Add value labels on top of bars
def add_labels(bars):
for bar in bars:
height = bar.get_height()
plt.annotate(f'{height:.1f}',
xy=(bar.get_x() + bar.get_width() / 2, height),
bar_height = bar.get_height()
plt.annotate(f'{bar_height:.1f}',
xy=(bar.get_x() + bar.get_width() / 2, bar_height),
xytext=(0, 3), # 3 points vertical offset
textcoords="offset points",
ha='center', va='bottom', fontsize=8)

add_labels(bars1)
add_labels(bars2)
for bar_group in bar_groups:
add_labels(bar_group)

# Customize plot
plt.title(f'FPS Comparison: {renderer_1_name} {rasterizer_1_str} vs {renderer_2_name} {rasterizer_2_str}\n{os.path.basename(mjcf)} - Resolution: {resX}x{resY}')
renderer_str_array = [f'{renderer_name} {rasterizer_str}' for renderer_name, rasterizer_str in zip(renderer_name_array, rasterizer_str_array)]
renderer_str_array_str = ', '.join(renderer_str_array)
plt.title(f'FPS Comparison: {renderer_str_array_str}\n{os.path.basename(mjcf)} - Resolution: {resX}x{resY}')
plt.xlabel('Batch Size')
plt.ylabel('FPS')
plt.xticks(x, batch_sizes)
plt.legend()
plt.grid(True, axis='y')

# Save plot
plot_filename = f"{plots_dir}/{os.path.splitext(os.path.basename(mjcf))[0]}_{renderer_1_name}_{rasterizer_1_str}_{renderer_2_name}_{rasterizer_2_str}_{resX}x{resY}_comparison_plot.png"
plot_filename = f"{plots_dir}/{os.path.splitext(os.path.basename(mjcf))[0]}_{renderer_str_array_str}_{resX}x{resY}_comparison_plot.png"
plt.savefig(plot_filename, dpi=100) # Added dpi parameter for better quality
plt.close()

Expand Down
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