Move image flipping to render context base class.

PiperOrigin-RevId: 734072160
Change-Id: I8735d9619f3a344a9eef607ef2423c6b1b1c9b4a

Author: quagla

dm_control/_render/__init__.py

@@ -45,6 +45,9 @@ def _import_glfw():
 def _import_osmesa():
   from dm_control._render.pyopengl.osmesa_renderer import OSMesaContext
   return OSMesaContext
+
+
+# Import removed.
 # pylint: enable=g-import-not-at-top
 
 
@@ -59,6 +62,7 @@ def no_renderer(*args, **kwargs):
     (constants.GLFW, _import_glfw),
     (constants.EGL, _import_egl),
     (constants.OSMESA, _import_osmesa),
+    # Option removed.
 )
 
 _NO_RENDERER = (

dm_control/_render/base.py

@@ -35,6 +35,8 @@
 
 from absl import logging
 from dm_control._render import executor
+import numpy as np
+
 
 _CURRENT_CONTEXT_FOR_THREAD = collections.defaultdict(lambda: None)
 _CURRENT_THREAD_FOR_CONTEXT = collections.defaultdict(lambda: None)
@@ -147,6 +149,10 @@ def make_current(self):
           ctx.call(self._platform_make_current)
       yield ctx
 
+  def to_pixels(self, buffer):
+    """Converts the buffer to pixels."""
+    return np.flipud(buffer)
+
   @abc.abstractmethod
   def _platform_init(self, max_width, max_height):
     """Performs an implementation-specific context initialization."""

dm_control/_render/constants.py

@@ -28,5 +28,6 @@
 OSMESA = ('osmesa',)
 GLFW = ('glfw', 'on', 'enable', 'enabled', 'true', '1', '')
 EGL = ('egl',)
+# Constant removed.
 NO_RENDERER = ('off', 'disable', 'disabled', 'false', '0')
 

dm_control/mujoco/engine.py

@@ -921,7 +921,7 @@ def render(
       image = self._rgb_buffer
 
     # The first row in the buffer is the bottom row of pixels in the image.
-    return np.flipud(image)
+    return self._physics.contexts.gl.to_pixels(image)
 
   def select(self, cursor_position):
     """Returns bodies and geoms visible at given coordinates in the frame.

dm_control/viewer/renderer.py

@@ -181,7 +181,7 @@ def render(self, viewport, scene):
 
     with self._surface.make_current() as ctx:
       ctx.call(self._render_on_gl_thread, viewport, scene)
-    self._pixels = np.flipud(self._rgb_buffer)
+    self._pixels = self._surface.to_pixels(self._rgb_buffer)
 
   def _render_on_gl_thread(self, viewport, scene):
     mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN,