Could not create GL context

[lihenghitcs]

• System: WSL-kali/WSL-Ubuntu (Windows 10 22H2 19045.2965), Ubuntu 22.04
• Docker Engine Version: 19.03.13
• Docker Desktop Version: 20.10.24

When running python tool.py, the following error occurs:

#color_files=21000
model_path /tmp/0000000rgb.obj
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Traceback (most recent call last):
  File "tool.py", line 436, in <module>
    compute_per_ob_visibility()
  File "tool.py", line 275, in compute_per_ob_visibility
    compute_per_ob_visibility_worker(color_file,cfg)
  File "tool.py", line 251, in compute_per_ob_visibility_worker
    renderer = ModelRendererOffscreen([model_dir],K,H=cfg['H'],W=cfg['W'])
  File "/home/catgrasp/renderer.py", line 34, in __init__
    self.r = pyrender.OffscreenRenderer(self.W, self.H)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/offscreen.py", line 31, in __init__
    self._create()
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/offscreen.py", line 149, in _create
    self._platform.init_context()
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/platforms/pyglet_platform.py", line 52, in init_context
    width=1, height=1)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyglet/window/xlib/__init__.py", line 171, in __init__
    super(XlibWindow, self).__init__(*args, **kwargs)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyglet/window/__init__.py", line 615, in __init__
    context = config.create_context(gl.current_context)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyglet/gl/xlib.py", line 204, in create_context
    return XlibContextARB(self, share)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyglet/gl/xlib.py", line 314, in __init__
    super(XlibContext13, self).__init__(config, share)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyglet/gl/xlib.py", line 218, in __init__
    raise gl.ContextException('Could not create GL context')
pyglet.gl.ContextException: Could not create GL context

I use glxinfo | grep "OpenGL version" (by apt-get install mesa-utils) to get the version of OpenGL, and it returns OpenGL version string: 3.1 Mesa 20.0.8.

Then I run vim /opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/constants.py, changing

TARGET_OPEN_GL_MAJOR = 4
TARGET_OPEN_GL_MINOR = 1

with

TARGET_OPEN_GL_MAJOR = 3
TARGET_OPEN_GL_MINOR = 1

, and it came out a new error:

#color_files=21000
model_path /tmp/0000000rgb.obj
Traceback (most recent call last):
  File "tool.py", line 436, in <module>
    compute_per_ob_visibility()
  File "tool.py", line 275, in compute_per_ob_visibility
    compute_per_ob_visibility_worker(color_file,cfg)
  File "tool.py", line 260, in compute_per_ob_visibility_worker
    color,depth = renderer.render([ob_in_cam])
  File "/home/catgrasp/renderer.py", line 46, in render
    color, depth = self.r.render(self.scene)  # depth: float
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/offscreen.py", line 102, in render
    retval = self._renderer.render(scene, flags, seg_node_map)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/renderer.py", line 144, in render
    retval = self._forward_pass(scene, flags, seg_node_map=seg_node_map)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/renderer.py", line 326, in _forward_pass
    self._configure_forward_pass_viewport(flags)
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/renderer.py", line 1012, in _configure_forward_pass_viewport
    self._configure_main_framebuffer()
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/pyrender/renderer.py", line 1094, in _configure_main_framebuffer
    self.viewport_width, self.viewport_height
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/OpenGL/platform/baseplatform.py", line 402, in __call__
    return self( *args, **named )
  File "/opt/conda/envs/catgrasp/lib/python3.7/site-packages/OpenGL/error.py", line 232, in glCheckError
    baseOperation = baseOperation,
OpenGL.error.GLError: GLError(
        err = 1282,
        description = b'invalid operation',
        baseOperation = glRenderbufferStorageMultisample,
        cArguments = (
                GL_RENDERBUFFER,
                4,
                GL_RGBA,
                2064,
                1544,
        )
)

The document of OpenGL(https://registry.khronos.org/OpenGL-Refpages/gl4/html/glRenderbufferStorageMultisample.xhtml) shows that

GL_INVALID_OPERATION is generated if samples is greater than the maximum number of samples supported for internalformat.
GL_INVALID_OPERATION is generated if internalformat is a signed or unsigned integer format and samples is greater than the value of GL_MAX_INTEGER_SAMPLES

, but i don't know what happened. I tried both WSL and Ubuntu 22.04, but they shared the same error.