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.. _headless_rendering:
Headless rendering
-------------------------------------
This tutorial explains how to render and save images from a terminal without any display device.
.. Note:: This feature is experimental; it was only tested with an Ubuntu 18.04 environment.
.. Note:: Although Ubuntu 16.04 is no longer supported for Open3D, additional instructions are under :ref:`headless_ubuntu1604`.
Install OSMesa
````````````````````````
To generate a headless context, it is necessary to install `OSMesa <https://www.mesa3d.org/osmesa.html>`_.
.. code-block:: shell
$ sudo apt-get install libosmesa6-dev
.. _install_virtualenv:
Install virtualenv
````````````````````````
Create a virtual environment for Python.
.. code-block:: shell
$ sudo apt-get install virtualenv python-pip
$ virtualenv -p /usr/bin/python3 py3env
$ source py3env/bin/activate
(py3env) $ pip install numpy matplotlib
This script installs and activates ``py3env``. The necessary modules, ``numpy`` and ``matplotlib``, are installed in ``py3env``.
.. Error:: Anaconda users are recommended to use this configuration as ``conda install matplotlib`` installs additional modules that are not based on OSMesa.
This will result in **segmentation fault error** at runtime.
Build Open3D with OSMesa
````````````````````````
Let's move to build a folder.
.. code-block:: shell
(py3env) $ cd ~/Open3D/
(py3env) $ mkdir build && cd build
In the next step, there are two cmake flags that need to be specified.
- ``-DENABLE_HEADLESS_RENDERING=ON``: this flag informs glew and glfw should use **OSMesa**.
- ``-DUSE_SYSTEM_GLEW=OFF -DUSE_SYSTEM_GLFW=OFF``: note that headless rendering only works with the **glew 2.1** and **glfw 3.3-dev** version.
In most cases, these versions are not installed in vanilla Ubuntu systems.
Use these CMake options to force to build glew 2.1 and glfw 3.3-dev from source included with Open3D.
- The Filament-based GUI implementation is not compatible with headless rendering, please set ``-DBUILD_GUI=OFF``.
- With ``-DBUILD_GUI=OFF`` webRTC support must also be disabled ``-DBUILD_WEBRTC=OFF``.
As a result, the cmake command is the following
.. code-block:: shell
(py3env) $ cmake -DENABLE_HEADLESS_RENDERING=ON \
-DBUILD_GUI=OFF \
-DBUILD_WEBRTC=OFF \
-DUSE_SYSTEM_GLEW=OFF \
-DUSE_SYSTEM_GLFW=OFF \
..
If cmake successfully generates makefiles, build Open3D.
.. code-block:: shell
(py3env) $ make -j$(nproc)
(py3env) $ make install-pip-package
.. _test_headless_rendering:
Test headless rendering
````````````````````````
As a final step, test a Python script that saves depth and surface normal sequences.
.. code-block:: shell
(py3env) $ cd ~/Open3D/examples/python/visualization
(py3env) $ python headless_rendering.py
This should print the following:
.. code-block:: shell
Capture image 00000
Capture image 00001
Capture image 00002
Capture image 00003
Capture image 00004
Capture image 00005
:
Capture image 00030
Rendered images are at ~/Open3D/examples/test_data/depth and the image folder.
.. Note:: | ``headless_rendering.py`` saves png files.
| This may take some time, so try to tweak the script for your purpose.
Possible Issues
````````````````````````
.. Error:: | If glew and glfw did not correctly link with OSMesa, it may crash with the following error.
| **GLFW Error: X11: The DISPLAY environment variable is missing. Failed to initialize GLFW**
Try ``cmake`` with ``-DUSE_SYSTEM_GLEW=OFF`` and ``-DUSE_SYSTEM_GLFW=OFF`` flags.
.. Error:: | If OSMesa does not support GL 3.3 Core you will get the following error:
| **GLFW Error: OSMesa: Failed to create context**
Open3D currently uses GL 3.3 Core Profile, if that is not supported you will get the above error.
You can run
.. code-block:: shell
$ cd ~/Open3D/build
$ bin/GLInfo
to get GL information for your environment (with or without a screen).
It will try and print various configurations, the second one is the one we use,
it should look something like
.. code-block:: shell
[Open3D INFO] TryGLVersion: 3.3 GLFW_OPENGL_CORE_PROFILE
[Open3D DEBUG] GL_VERSION: 3.3 (Core Profile) Mesa 19.2.8
[Open3D DEBUG] GL_RENDERER: llvmpipe (LLVM 9.0, 256 bits)
[Open3D DEBUG] GL_VENDOR: VMware, Inc.
[Open3D DEBUG] GL_SHADING_LANGUAGE_VERSION: 3.30
If instead you get
.. code-block:: shell
[Open3D INFO] TryGLVersion: 3.3 GLFW_OPENGL_CORE_PROFILE
[Open3D WARNING] GLFW Error: OSMesa: Failed to create context
[Open3D DEBUG] Failed to create window
Then your OSMesa version might be too old. Try to follow instructions below to :ref:`compile_osmesa` to build a newer version and see if that resolves your issue.
.. _headless_ubuntu1604:
Headless Ubuntu 16.04
``````````````````````````````````````
For Ubuntu 16.04, a version of OSMesa needs to be built from source.
First follow :ref:`install_virtualenv` instructions above, then follow :ref:`compile_osmesa` instructions below.
.. _compile_osmesa:
Compile OSMesa from source
``````````````````````````````````````
Here are instructions for compiling mesa-19.0.8, last version that still supported ./configure:
.. code-block:: shell
# install llvm-8
(py3env) $ sudo apt install llvm-8
# download OSMesa 19.0.8 release
(py3env) $ curl -O https://mesa.freedesktop.org/archive/mesa-19.0.8.tar.xz
(py3env) $ tar xvf mesa-19.0.8.tar.xz
(py3env) $ cd mesa-19.0.8
(py3env) $ LLVM_CONFIG="/usr/bin/llvm-config-8" ./configure --prefix=$HOME/osmesa \
--disable-osmesa --disable-driglx-direct --disable-gbm --enable-dri \
--with-gallium-drivers=swrast --enable-autotools --enable-llvm --enable-gallium-osmesa
(py3env) $ make -j$(nproc)
(py3env) $ make install
# this installed OSMesa libraries to $HOME/osmesa/lib; in order for Open3D to pick it up
# LD_LIBRARY_PATH needs to be updated to include it:
(py3env) $ export LD_LIBRARY_PATH="$HOME/osmesa/lib:$LD_LIBRARY_PATH"
# this needs to be done for every shell, or you can add it to your .bashrc
(py3env) $ cd ~/Open3D
(py3env) $ mkdir build&&cd build
(py3env) $ cmake -DENABLE_HEADLESS_RENDERING=ON -DUSE_SYSTEM_GLEW=OFF -DUSE_SYSTEM_GLFW=OFF \
-DOSMESA_INCLUDE_DIR=$HOME/osmesa/include -DOSMESA_LIBRARY="$HOME/osmesa/lib/libOSMesa.so" \
..
(py3env) $ make -j$(nproc)
(py3env) $ make install-pip-package
Now you can follow the instructions under :ref:`test_headless_rendering`.
|
