High CPU Usage and Performance Issues with windowed.SceneViewer about trimesh HOT 3 OPEN

Here is the screenshot of CPU usage:

Steps to produce issue:

python -m venv .venv
source .venv/bin/activate
pip install -r requirements.txt
python trimesh_windowed_scene_viewer.py

from trimesh.

Hey, you could try running with profiling pip install pyinstrument and scene.show(profile=True). Although it is a debug viewer and is not massively optimized (and also due for a Pyglet 2 re-write one of these days). Yeah it's probably mostly that the framerate is way higher than it needs to be, maybe we could do something like this locked to the monitor refresh rate:

https://stackoverflow.com/questions/62824594/how-to-limit-fps-in-pyglet-window-on-draw-event

from trimesh.

Thanks mikedh for the suggestions,.

I used scene.show(profile=True) and I got following output:

 _     ._   __/__   _ _  _  _ _/_   Recorded: 10:00:02  Samples:  3462
 /_//_/// /_\ / //_// / //_'/ //     Duration: 8.054     CPU time: 31.638
/   _/                      v4.6.2

Program:  pyinstrument trimesh_scene_viewer.py

8.053 <module>  trimesh_scene_viewer.py:1
├─ 7.437 Scene.show  trimesh/scene/scene.py:1255
│     [38 frames hidden]  trimesh, pyglet, <built-in>, numpy, p...
│        4.388 select  <built-in>
├─ 0.338 <module>  yourdfpy/__init__.py:1
│     [10 frames hidden]  yourdfpy, trimesh, scipy
└─ 0.277 load  yourdfpy/urdf.py:931
      [19 frames hidden]  yourdfpy, trimesh

I tried other solution, but still the CPU usage is really high.

I guess, in future when Pyglet stable version 2.x.x is released then maybe new functionalities could be useful.

from trimesh.