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from typing import Tuple
import ctypes
import numpy as np
import OpenGL.EGL as egl
from OpenGL.raw.EGL.EXT.platform_device import EGL_PLATFORM_DEVICE_EXT
from OpenGL.EGL.EXT.device_base import egl_get_devices
from OpenGL import error
from OpenGL.GL import *
def create_initialized_headless_egl_display():
"""Creates an initialized EGL display directly on a device.
"""
for device in egl_get_devices():
display = egl.eglGetPlatformDisplayEXT(
EGL_PLATFORM_DEVICE_EXT, device, None)
if display != egl.EGL_NO_DISPLAY and egl.eglGetError() == egl.EGL_SUCCESS:
# `eglInitialize` may or may not raise an exception on failure depending
# on how PyOpenGL is configured. We therefore catch a `GLError` and also
# manually check the output of `eglGetError()` here.
try:
initialized = egl.eglInitialize(display, None, None)
except error.GLError:
pass
else:
if initialized == egl.EGL_TRUE and egl.eglGetError() == egl.EGL_SUCCESS:
return display
return egl.EGL_NO_DISPLAY
def create_opengl_context(surface_size: Tuple[int, int]):
"""Create offscreen OpenGL context and make it current.
Users are expected to directly use EGL API in case more advanced
context management is required.
Args:
surface_size: (width, height), size of the offscreen rendering surface.
"""
egl_display = create_initialized_headless_egl_display()
if egl_display == egl.EGL_NO_DISPLAY:
raise RuntimeError('Cannot initialize a headless EGL display.')
major, minor = egl.EGLint(), egl.EGLint()
egl.eglInitialize(egl_display, ctypes.pointer(
major), ctypes.pointer(minor))
config_attribs = [
egl.EGL_SURFACE_TYPE, egl.EGL_PBUFFER_BIT, egl.EGL_BLUE_SIZE, 8,
egl.EGL_GREEN_SIZE, 8, egl.EGL_RED_SIZE, 8, egl.EGL_DEPTH_SIZE, 24,
egl.EGL_RENDERABLE_TYPE, egl.EGL_OPENGL_BIT, egl.EGL_NONE
]
config_attribs = (egl.EGLint * len(config_attribs))(*config_attribs)
num_configs = egl.EGLint()
egl_cfg = egl.EGLConfig()
egl.eglChooseConfig(egl_display, config_attribs, ctypes.pointer(egl_cfg), 1,
ctypes.pointer(num_configs))
width, height = surface_size
pbuffer_attribs = [
egl.EGL_WIDTH,
width,
egl.EGL_HEIGHT,
height,
egl.EGL_NONE,
]
pbuffer_attribs = (egl.EGLint * len(pbuffer_attribs))(*pbuffer_attribs)
egl_surf = egl.eglCreatePbufferSurface(
egl_display, egl_cfg, pbuffer_attribs)
egl.eglBindAPI(egl.EGL_OPENGL_API)
egl_context = egl.eglCreateContext(
egl_display, egl_cfg, egl.EGL_NO_CONTEXT, None)
egl.eglMakeCurrent(egl_display, egl_surf, egl_surf, egl_context)
return egl_display, egl_surf, egl_context
def init_frame_buffer(frame_image: np.ndarray, num_samples: int = 16):
"""Create an FBO and assign a texture buffer to it for the purpose of offscreen rendering to the texture buffer
"""
samples = min(num_samples, GL_SAMPLES - 1)
width = frame_image.shape[1]
height = frame_image.shape[0]
if frame_image.shape[-1] == 3:
texture_type = GL_RGB
internal_texture_type = GL_RGB8
elif frame_image.shape[-1] == 4:
texture_type = GL_RGBA
internal_texture_type = GL_RGBA8
render_texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, render_texture)
glTexImage2D(GL_TEXTURE_2D, 0, internal_texture_type, width,
height, 0, texture_type, GL_UNSIGNED_BYTE, None)
glBindTexture(GL_TEXTURE_2D, 0)
render_frame_object = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, render_frame_object)
# Create color render buffer
color_buffer = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, color_buffer)
glRenderbufferStorage(
GL_RENDERBUFFER, internal_texture_type, width, height)
glFramebufferRenderbuffer(
GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, color_buffer)
glFramebufferTexture2D(
GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, render_texture, 0)
depth_buffer = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, depth_buffer)
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, width, height)
glBindRenderbuffer(GL_RENDERBUFFER,0)
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, depth_buffer)
glBindRenderbuffer(GL_RENDERBUFFER, 0)
# Sees if your GPU can handle the FBO configuration defined above
if glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE:
raise RuntimeError(
"Framebuffer binding failed, probably because your GPU does not support this FBO configuration.")
glBindFramebuffer(GL_FRAMEBUFFER, 0)
return render_frame_object
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