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q_gl_picamera2.py
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q_gl_picamera2.py
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from PyQt5 import QtCore, QtWidgets
from PyQt5.QtCore import pyqtSlot, QSocketNotifier
from PyQt5.QtWidgets import QWidget, QApplication
from PyQt5.QtCore import Qt
import sys
import os
os.environ["PYOPENGL_PLATFORM"] = "egl"
import OpenGL
from OpenGL import GL as gl
from OpenGL.EGL.KHR.image import *
from OpenGL.EGL.EXT.image_dma_buf_import import *
from OpenGL.EGL.VERSION.EGL_1_0 import *
from OpenGL.EGL.VERSION.EGL_1_2 import *
from OpenGL.EGL.VERSION.EGL_1_3 import *
from OpenGL.GLES2.VERSION.GLES2_2_0 import *
from OpenGL.GLES2.OES.EGL_image import *
from OpenGL.GLES2.OES.EGL_image_external import *
from OpenGL.GLES3.VERSION.GLES3_3_0 import *
from OpenGL.GL import shaders
from gl_helpers import *
class EglState:
def __init__(self):
self.create_display()
self.choose_config()
self.create_context()
check_gl_extensions(["GL_OES_EGL_image"])
def create_display(self):
xdisplay = getEGLNativeDisplay()
self.display = eglGetDisplay(xdisplay)
def choose_config(self):
major, minor = EGLint(), EGLint()
eglInitialize(self.display, major, minor)
print("EGL {} {}".format(
eglQueryString(self.display, EGL_VENDOR).decode(),
eglQueryString(self.display, EGL_VERSION).decode()))
check_egl_extensions(self.display, ["EGL_EXT_image_dma_buf_import"])
eglBindAPI(EGL_OPENGL_ES_API)
config_attribs = [
EGL_SURFACE_TYPE, EGL_WINDOW_BIT,
EGL_RED_SIZE, 8,
EGL_GREEN_SIZE, 8,
EGL_BLUE_SIZE, 8,
EGL_ALPHA_SIZE, 0,
EGL_RENDERABLE_TYPE, EGL_OPENGL_ES2_BIT,
EGL_NONE,
]
n = EGLint()
configs = (EGLConfig * 1)()
eglChooseConfig(self.display, config_attribs, configs, 1, n)
self.config = configs[0]
def create_context(self):
context_attribs = [
EGL_CONTEXT_CLIENT_VERSION, 2,
EGL_NONE,
]
self.context = eglCreateContext(self.display, self.config, EGL_NO_CONTEXT, context_attribs)
eglMakeCurrent(self.display, EGL_NO_SURFACE, EGL_NO_SURFACE, self.context)
class QGlPicamera2(QWidget):
def __init__(self, picam2, parent=None, width=640, height=480):
super().__init__(parent=parent)
self.resize(width, height)
self.setAttribute(Qt.WA_PaintOnScreen)
self.setAttribute(Qt.WA_NativeWindow)
self.buffers = {}
self.surface = None
self.current_request = None
self.stop_count = 0
self.egl = EglState()
self.init_gl()
self.picamera2 = picam2
self.camera_notifier = QSocketNotifier(self.picamera2.camera_manager.efd,
QtCore.QSocketNotifier.Read,
self)
self.camera_notifier.activated.connect(self.handle_requests)
def paintEngine(self):
return None
def create_surface(self):
native_surface = c_void_p(self.winId().__int__())
surface = eglCreateWindowSurface(self.egl.display, self.egl.config,
native_surface, None)
eglMakeCurrent(self.egl.display, self.surface, self.surface, self.egl.context)
self.surface = surface
def init_gl(self):
self.create_surface()
vertShaderSrc = """
attribute vec2 aPosition;
varying vec2 texcoord;
void main()
{
gl_Position = vec4(aPosition * 2.0 - 1.0, 0.0, 1.0);
texcoord.x = aPosition.x;
texcoord.y = 1.0 - aPosition.y;
}
"""
fragShaderSrc = """
#extension GL_OES_EGL_image_external : enable
precision mediump float;
varying vec2 texcoord;
uniform samplerExternalOES texture;
void main()
{
gl_FragColor = texture2D(texture, texcoord);
}
"""
program = shaders.compileProgram(
shaders.compileShader(vertShaderSrc, GL_VERTEX_SHADER),
shaders.compileShader(fragShaderSrc, GL_FRAGMENT_SHADER)
)
glUseProgram(program)
vertPositions = [
0.0, 0.0,
1.0, 0.0,
1.0, 1.0,
0.0, 1.0
]
inputAttrib = glGetAttribLocation(program, "aPosition")
glVertexAttribPointer(inputAttrib, 2, GL_FLOAT, GL_FALSE, 0, vertPositions)
glEnableVertexAttribArray(inputAttrib)
eglMakeCurrent(self.egl.display, self.surface, self.surface, self.egl.context)
class Buffer:
# libcamera format string -> DRM fourcc, note that 24-bit formats are not supported
FMT_MAP = {
"XRGB8888": "XR24",
"XBGR8888": "XB24",
"YUYV": "YUYV",
# doesn't work "YVYU": "YVYU",
"UYVY": "UYVY",
# doesn't work "VYUY": "VYUY",
"YUV420": "YU12",
"YVU420": "YV12",
}
def __init__(self, display, completed_request):
picam2 = completed_request.picam2
stream = picam2.stream_map[picam2.display_stream_name]
fb = completed_request.request.buffers[stream]
cfg = stream.configuration
fmt = cfg.pixelFormat
fmt = str_to_fourcc(self.FMT_MAP[fmt])
w, h = cfg.size
if cfg.pixelFormat in ("YUV420", "YVU420"):
h2 = h // 2
stride2 = cfg.stride // 2
attribs = [
EGL_WIDTH, w,
EGL_HEIGHT, h,
EGL_LINUX_DRM_FOURCC_EXT, fmt,
EGL_DMA_BUF_PLANE0_FD_EXT, fb.fd(0),
EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
EGL_DMA_BUF_PLANE0_PITCH_EXT, cfg.stride,
EGL_DMA_BUF_PLANE1_FD_EXT, fb.fd(0),
EGL_DMA_BUF_PLANE1_OFFSET_EXT, h * cfg.stride,
EGL_DMA_BUF_PLANE1_PITCH_EXT, stride2,
EGL_DMA_BUF_PLANE2_FD_EXT, fb.fd(0),
EGL_DMA_BUF_PLANE2_OFFSET_EXT, h * cfg.stride + h2 * stride2,
EGL_DMA_BUF_PLANE2_PITCH_EXT, stride2,
EGL_NONE,
]
else:
attribs = [
EGL_WIDTH, w,
EGL_HEIGHT, h,
EGL_LINUX_DRM_FOURCC_EXT, fmt,
EGL_DMA_BUF_PLANE0_FD_EXT, fb.fd(0),
EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
EGL_DMA_BUF_PLANE0_PITCH_EXT, cfg.stride,
EGL_NONE,
]
image = eglCreateImageKHR(display,
EGL_NO_CONTEXT,
EGL_LINUX_DMA_BUF_EXT,
None,
attribs)
self.texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_EXTERNAL_OES, self.texture)
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE)
glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE)
glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, image)
eglDestroyImageKHR(display, image)
def repaint(self, completed_request):
if completed_request.request not in self.buffers:
if self.stop_count != self.picamera2.stop_count:
if self.picamera2.verbose:
print("Garbage collect", len(self.buffers), "textures")
for (req, buffer) in self.buffers.items():
glDeleteTextures(buffer.texture, 1)
self.buffers = {}
self.stop_count = self.picamera2.stop_count
if self.picamera2.verbose:
print("Make buffer for request", completed_request.request)
self.buffers[completed_request.request] = self.Buffer(self.egl.display, completed_request)
buffer = self.buffers[completed_request.request]
glBindTexture(GL_TEXTURE_EXTERNAL_OES, buffer.texture)
glDrawArrays(GL_TRIANGLE_FAN, 0, 4)
eglSwapBuffers(self.egl.display, self.surface)
if self.current_request:
self.current_request.release()
self.current_request = completed_request
@pyqtSlot()
def handle_requests(self):
request = self.picamera2.process_requests()
if request:
if self.picamera2.display_stream_name is not None:
self.repaint(request)
else:
request.release()