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added GlArrays class and pointCloudShow function

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This commit is contained in:
Vladislav Vinogradov
2011-11-23 10:05:24 +00:00
parent 4acc93df69
commit d7450c2449
6 changed files with 1097 additions and 184 deletions
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modules/highgui/src/window.cpp
+216 -88
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@@ -228,6 +228,7 @@ void cv::updateWindow(const string& windowName)
namespace
{
const int CV_TEXTURE_MAGIC_VAL = 0x00287653;
const int CV_POINT_CLOUD_MAGIC_VAL = 0x00287654;
struct GlObjBase
{
@@ -273,19 +274,40 @@ namespace
delete glObj;
}
template <typename T>
struct GlObj : GlObjBase
struct GlObjTex : GlObjBase
{
T obj;
cv::gpu::GlTexture tex;
};
void CV_CDECL glDrawTextureCallback(void* userdata)
{
GlObj<cv::gpu::GlTexture>* texObj = static_cast<GlObj<cv::gpu::GlTexture>*>(userdata);
GlObjTex* texObj = static_cast<GlObjTex*>(userdata);
CV_DbgAssert(texObj->flag == CV_TEXTURE_MAGIC_VAL);
cv::gpu::render(texObj->obj);
static cv::gpu::GlCamera glCamera;
glCamera.setupProjectionMatrix();
cv::gpu::render(texObj->tex);
}
struct GlObjPointCloud : GlObjBase
{
cv::gpu::GlArrays arr;
cv::gpu::GlCamera camera;
};
void CV_CDECL glDrawPointCloudCallback(void* userdata)
{
GlObjPointCloud* pointCloudObj = static_cast<GlObjPointCloud*>(userdata);
CV_DbgAssert(pointCloudObj->flag == CV_POINT_CLOUD_MAGIC_VAL);
pointCloudObj->camera.setupProjectionMatrix();
pointCloudObj->camera.setupModelViewMatrix();
cv::gpu::render(pointCloudObj->arr);
}
void CV_CDECL glCleanCallback(void* userdata)
@@ -297,6 +319,58 @@ namespace
}
#endif // HAVE_OPENGL
#ifdef HAVE_OPENGL
namespace
{
template <typename T> void imshowImpl(const std::string& winname, const T& img)
{
using namespace cv;
namedWindow(winname, WINDOW_OPENGL | WINDOW_AUTOSIZE);
double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
resizeWindow(winname, img.cols, img.rows);
setOpenGlContext(winname);
GlObjBase* glObj = findGlObjByName(winname);
if (glObj && glObj->flag != CV_TEXTURE_MAGIC_VAL)
{
icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
glObj = 0;
}
if (glObj)
{
GlObjTex* texObj = static_cast<GlObjTex*>(glObj);
texObj->tex.copyFrom(img);
}
else
{
GlObjTex* texObj = new GlObjTex;
texObj->tex.copyFrom(img);
glObj = texObj;
glObj->flag = CV_TEXTURE_MAGIC_VAL;
glObj->winname = winname;
addGlObj(glObj);
icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
}
setOpenGlDrawCallback(winname, glDrawTextureCallback, glObj);
updateWindow(winname);
}
}
#endif // HAVE_OPENGL
void cv::imshow( const string& winname, InputArray _img )
{
Mat img = _img.getMat();
@@ -313,43 +387,7 @@ void cv::imshow( const string& winname, InputArray _img )
}
else
{
double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
resizeWindow(winname, img.cols, img.rows);
setOpenGlContext(winname);
GlObjBase* glObj = findGlObjByName(winname);
if (glObj && glObj->flag != CV_TEXTURE_MAGIC_VAL)
{
icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
glObj = 0;
}
if (glObj)
{
GlObj<cv::gpu::GlTexture>* texObj = static_cast<GlObj<cv::gpu::GlTexture>*>(glObj);
texObj->obj.copyFrom(img);
}
else
{
GlObj<cv::gpu::GlTexture>* texObj = new GlObj<cv::gpu::GlTexture>;
texObj->obj.copyFrom(img);
glObj = texObj;
glObj->flag = CV_TEXTURE_MAGIC_VAL;
glObj->winname = winname;
addGlObj(glObj);
icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
}
setOpenGlDrawCallback(winname, glDrawTextureCallback, glObj);
updateWindow(winname);
imshowImpl(winname, img);
}
#endif
}
@@ -359,47 +397,7 @@ void cv::imshow(const string& winname, const gpu::GlBuffer& buf)
#ifndef HAVE_OPENGL
CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
#else
CV_Assert(buf.usage() == gpu::GlBuffer::TEXTURE_BUFFER);
namedWindow(winname, WINDOW_OPENGL | WINDOW_AUTOSIZE);
double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
resizeWindow(winname, buf.cols(), buf.rows());
setOpenGlContext(winname);
GlObjBase* glObj = findGlObjByName(winname);
if (glObj && glObj->flag != CV_TEXTURE_MAGIC_VAL)
{
icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
glObj = 0;
}
if (glObj)
{
GlObj<cv::gpu::GlTexture>* texObj = static_cast<GlObj<cv::gpu::GlTexture>*>(glObj);
texObj->obj.copyFrom(buf);
}
else
{
GlObj<cv::gpu::GlTexture>* texObj = new GlObj<cv::gpu::GlTexture>;
texObj->obj.copyFrom(buf);
glObj = texObj;
glObj->flag = CV_TEXTURE_MAGIC_VAL;
glObj->winname = winname;
addGlObj(glObj);
icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
}
setOpenGlDrawCallback(winname, glDrawTextureCallback, glObj);
updateWindow(winname);
imshowImpl(winname, buf);
#endif
}
@@ -424,7 +422,7 @@ void cv::imshow(const string& winname, const gpu::GlTexture& tex)
double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
resizeWindow(winname, tex.cols(), tex.rows());
resizeWindow(winname, tex.cols, tex.rows);
setOpenGlContext(winname);
@@ -438,13 +436,13 @@ void cv::imshow(const string& winname, const gpu::GlTexture& tex)
if (glObj)
{
GlObj<cv::gpu::GlTexture>* texObj = static_cast<GlObj<cv::gpu::GlTexture>*>(glObj);
texObj->obj = tex;
GlObjTex* texObj = static_cast<GlObjTex*>(glObj);
texObj->tex = tex;
}
else
{
GlObj<cv::gpu::GlTexture>* texObj = new GlObj<cv::gpu::GlTexture>;
texObj->obj = tex;
GlObjTex* texObj = new GlObjTex;
texObj->tex = tex;
glObj = texObj;
glObj->flag = CV_TEXTURE_MAGIC_VAL;
@@ -461,6 +459,136 @@ void cv::imshow(const string& winname, const gpu::GlTexture& tex)
#endif
}
void cv::pointCloudShow(const string& winname, const gpu::GlCamera& camera, const gpu::GlArrays& arr)
{
#ifndef HAVE_OPENGL
CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
#else
namedWindow(winname, WINDOW_OPENGL);
setOpenGlContext(winname);
GlObjBase* glObj = findGlObjByName(winname);
if (glObj && glObj->flag != CV_POINT_CLOUD_MAGIC_VAL)
{
icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
glObj = 0;
}
if (glObj)
{
GlObjPointCloud* pointCloudObj = static_cast<GlObjPointCloud*>(glObj);
pointCloudObj->arr = arr;
pointCloudObj->camera = camera;
}
else
{
GlObjPointCloud* pointCloudObj = new GlObjPointCloud;
pointCloudObj->arr = arr;
pointCloudObj->camera = camera;
glObj = pointCloudObj;
glObj->flag = CV_POINT_CLOUD_MAGIC_VAL;
glObj->winname = winname;
addGlObj(glObj);
icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
}
setOpenGlDrawCallback(winname, glDrawPointCloudCallback, glObj);
updateWindow(winname);
#endif
}
#ifdef HAVE_OPENGL
namespace
{
template <typename T> void pointCloudShowImpl(const std::string& winname, const cv::gpu::GlCamera& camera, const T& points, const T& colors)
{
using namespace cv;
namedWindow(winname, WINDOW_OPENGL);
setOpenGlContext(winname);
GlObjBase* glObj = findGlObjByName(winname);
if (glObj && glObj->flag != CV_POINT_CLOUD_MAGIC_VAL)
{
icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
glObj = 0;
}
if (glObj)
{
GlObjPointCloud* pointCloudObj = static_cast<GlObjPointCloud*>(glObj);
pointCloudObj->arr.setVertexArray(points);
if (colors.empty())
pointCloudObj->arr.resetColorArray();
else
pointCloudObj->arr.setColorArray(colors);
pointCloudObj->camera = camera;
}
else
{
GlObjPointCloud* pointCloudObj = new GlObjPointCloud;
pointCloudObj->arr.setVertexArray(points);
if (!colors.empty())
pointCloudObj->arr.setColorArray(colors);
pointCloudObj->camera = camera;
glObj = pointCloudObj;
glObj->flag = CV_POINT_CLOUD_MAGIC_VAL;
glObj->winname = winname;
addGlObj(glObj);
icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
}
setOpenGlDrawCallback(winname, glDrawPointCloudCallback, glObj);
updateWindow(winname);
}
}
#endif // HAVE_OPENGL
void cv::pointCloudShow(const string& winname, const gpu::GlCamera& camera, const gpu::GlBuffer& points, const gpu::GlBuffer& colors)
{
#ifndef HAVE_OPENGL
CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
#else
pointCloudShowImpl(winname, camera, points, colors);
#endif
}
void cv::pointCloudShow(const string& winname, const gpu::GlCamera& camera, const gpu::GpuMat& points, const gpu::GpuMat& colors)
{
#ifndef HAVE_OPENGL
CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
#else
pointCloudShowImpl(winname, camera, points, colors);
#endif
}
void cv::pointCloudShow(const string& winname, const gpu::GlCamera& camera, InputArray points, InputArray colors)
{
#ifndef HAVE_OPENGL
CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
#else
pointCloudShowImpl(winname, camera, points, colors);
#endif
}
#ifndef HAVE_OPENGL
CV_IMPL void cvCreateOpenGLCallback(const char*, CvOpenGLCallback, void*, double, double, double)