shuj1 · June 22, 2017 08:01 · Feb 16, 2015
diff --git a/OGL_OCV_common.cpp b/OGL_OCV_common.cpp
@@ -0,0 +1,198 @@
+/*
+ *  OGL_OCV_common.cpp
+ *  Common interop between OpenCV and OpenGL
+ *
+ *  Created by Roy Shilkrot on 2/16/2015
+ *  Copyright 2015 Roy Shilkrot. All rights reserved.
+ *
+ *  Permission is hereby granted, free of charge, to any person obtaining a copy
+ *  of this software and associated documentation files (the "Software"), to deal
+ *  in the Software without restriction, including without limitation the rights
+ *  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *  copies of the Software, and to permit persons to whom the Software is
+ *  furnished to do so, subject to the following conditions:
+ *
+ *  The above copyright notice and this permission notice shall be included in
+ *  all copies or substantial portions of the Software.
+ *
+ *  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ *  THE SOFTWARE.
+ *
+ */
+
+#include "OGL_OCV_common.hpp"
+
+namespace RS {
+
+void drawOpenCVImageInGLOnlyQuad(const OpenCVGLTexture& tex, int width, int height) {
+    glEnable(GL_TEXTURE_2D);
+    glBindTexture(GL_TEXTURE_2D, tex.tex_id);
+
+    double ithr = tex.thr, itwr = tex.twr;
+    double n[3] = {0,0,-1};
+
+    glBegin(GL_QUADS);
+
+    glNormal3dv(n);
+    glTexCoord2d(0,     0);
+    glVertex2d  (0,     0);
+
+    glTexCoord2d(0,     ithr);
+    glVertex2d  (0,     height);
+
+    glTexCoord2d(itwr,  ithr);
+    glVertex2d  (width,  height);
+
+    glTexCoord2d(itwr,  0);
+    glVertex2d  (width,  0);
+
+    glEnd();
+}
+
+void drawOpenCVImageInGLFullViewport(const OpenCVGLTexture& tex) {
+	glDisable(GL_LIGHTING);
+	glDisable(GL_BLEND);
+
+	int vPort[4]; glGetIntegerv(GL_VIEWPORT, vPort);
+
+	glEnable(GL_TEXTURE_2D);
+	glBindTexture(GL_TEXTURE_2D, tex.tex_id);
+	glPushMatrix();
+	glColor3ub(255, 255, 255);
+
+	glScaled(vPort[3], vPort[3], 1);
+
+	double aw2h = tex.aspect_w2h, ithr = tex.thr, itwr = tex.twr;
+	double n[3] = {0,0,-1};
+
+	GLint face_ori; glGetIntegerv(GL_FRONT_FACE, &face_ori);
+	glFrontFace(GL_CW); //we're gonna draw clockwise
+
+	glBegin(GL_QUADS);	
+
+	glNormal3dv(n);
+	glTexCoord2d(0,     0);
+	glVertex2d  (0,     0);
+
+	glTexCoord2d(0,     ithr);
+	glVertex2d  (0,     1);
+
+	glTexCoord2d(itwr,  ithr);
+	glVertex2d  (aw2h,  1);
+
+	glTexCoord2d(itwr,  0);
+	glVertex2d  (aw2h,  0);
+
+	glEnd();
+	glPopMatrix();
+
+	glFrontFace(face_ori); //restore front face orientation
+
+	glDisable(GL_TEXTURE_2D);
+	glEnable(GL_LIGHTING);
+	glEnable(GL_BLEND);
+}
+
+void glEnable2D()
+{
+    glPushAttrib(GL_ENABLE_BIT);
+    glPushAttrib(GL_CURRENT_BIT);
+
+	int vPort[4];
+	glGetIntegerv(GL_VIEWPORT, vPort);
+
+	glMatrixMode(GL_PROJECTION);
+	glPushMatrix();
+	glLoadIdentity();
+	glOrtho(0, vPort[2], 0, vPort[3], -1, 4);
+
+	glMatrixMode(GL_MODELVIEW);
+	glPushMatrix();
+	glLoadIdentity();
+	glTranslated(0.375, 0.375, 0);
+
+//	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT); // clear the screen
+
+//	glDisable(GL_DEPTH_TEST);	
+}
+
+void glEnable2D(int w,int h, int x, int y) {
+    glPushAttrib(GL_VIEWPORT_BIT);
+    glViewport(x, y, w, h);
+
+    RS::glEnable2D();
+
+    glScaled(w, h, 1);
+}
+
+void glDisable2D()
+{
+	glMatrixMode(GL_PROJECTION);
+	glPopMatrix();   
+	glMatrixMode(GL_MODELVIEW);
+	glPopMatrix();	
+
+//	glEnable(GL_DEPTH_TEST);
+
+    glPopAttrib();
+    glPopAttrib();
+
+}
+
+void glDisable2Dvp() {
+	glDisable2D();
+	glPopAttrib();
+}
+
+
+#if defined(WIN32)
+#define log2(x) log10((double)(x))/log10(2.0)
+#endif
+
+Mat copyImgToTex(const Mat& _tex_img, GLuint* texID, double* _twr, double* _thr) {
+	Mat tex_img = _tex_img;
+	flip(_tex_img,tex_img,0);
+	Mat tex_pow2(pow(2.0,ceil(log2(tex_img.rows))),pow(2.0,ceil(log2(tex_img.cols))),CV_8UC3);
+//	std::cout << "original image size " << tex_img.size() << std::endl;
+//	std::cout << "adjusted to OpenGL texture: " << tex_pow2.size() << std::endl;
+	Mat region = tex_pow2(Rect(0,0,tex_img.cols,tex_img.rows));
+	if (tex_img.type() == region.type()) {
+		tex_img.copyTo(region);
+	} else if (tex_img.type() == CV_8UC1) {
+		cvtColor(tex_img, region, CV_GRAY2BGR);
+	} else {
+		tex_img.convertTo(region, CV_8UC3, 255.0);
+	}
+
+	if (_twr != 0 && _thr != 0) {
+		*_twr = (double)tex_img.cols/(double)tex_pow2.cols;
+		*_thr = (double)tex_img.rows/(double)tex_pow2.rows;
+	}
+	glBindTexture( GL_TEXTURE_2D, *texID );
+	glTexImage2D(GL_TEXTURE_2D, 0, 3, tex_pow2.cols, tex_pow2.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, tex_pow2.data);
+	return tex_pow2;
+}	
+
+OpenCVGLTexture MakeOpenCVGLTexture(const Mat& _tex_img) {
+	OpenCVGLTexture _ocvgl;
+
+	glGenTextures( 1, &_ocvgl.tex_id );
+	glBindTexture( GL_TEXTURE_2D, _ocvgl.tex_id );
+	glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE );
+	glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
+	glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
+
+	if (!_tex_img.empty()) { //image may be dummy, just to generate pointer to texture object in GL
+		copyImgToTex(_tex_img,&_ocvgl.tex_id,&_ocvgl.twr,&_ocvgl.thr);
+		_ocvgl.aspect_w2h = (double)_tex_img.cols/(double)_tex_img.rows;
+	}
+
+	return _ocvgl;
+}
+
+}
diff --git a/OGL_OCV_common.hpp b/OGL_OCV_common.hpp
@@ -0,0 +1,90 @@
+/*
+ *  OGL_OCV_common.h
+ *  Common interop between OpenCV and OpenGL
+ *
+ *  Created by Roy Shilkrot on 2/16/2015
+ *  Copyright 2015 Roy Shilkrot. All rights reserved.
+ *
+ *  Permission is hereby granted, free of charge, to any person obtaining a copy
+ *  of this software and associated documentation files (the "Software"), to deal
+ *  in the Software without restriction, including without limitation the rights
+ *  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *  copies of the Software, and to permit persons to whom the Software is
+ *  furnished to do so, subject to the following conditions:
+ *
+ *  The above copyright notice and this permission notice shall be included in
+ *  all copies or substantial portions of the Software.
+ *
+ *  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ *  THE SOFTWARE.
+ *
+ */
+#pragma once
+
+#include <opencv2/opencv.hpp>
+
+using namespace cv;
+
+#if defined(__APPLE__)
+#  include <OpenGL/gl.h>
+#elif defined(__linux__) || defined(__MINGW32__) || defined(WIN32)
+#  define GLEW_STATIC
+//#  include <GL/glew.h>
+//#  include <GL/wglew.h>
+#  include <GL/gl.h>
+#  include <GL/glu.h>
+//#  include <GL/glext.h>
+#else
+#  include <gl.h>
+#endif
+
+namespace RS {
+
+Mat copyImgToTex(const Mat& _tex_img, GLuint* texID, double* _twr, double* _thr);
+
+typedef struct my_texture {
+	GLuint tex_id;
+	double twr,thr,aspect_w2h;
+	Mat image,tex_pow2;
+	my_texture():tex_id(-1),twr(1.0),thr(1.0) {}
+	bool initialized;
+	void set(const Mat& ocvimg) {
+	    if(tex_pow2.empty()) {
+            ocvimg.copyTo(image);
+            copyImgToTex(image, &tex_id, &twr, &thr);
+            aspect_w2h = (double)ocvimg.cols/(double)ocvimg.rows;
+	    } else {
+	        Mat region = tex_pow2(Rect(0,0,ocvimg.cols,ocvimg.rows));
+	        if (ocvimg.type() == region.type()) {
+                flip(ocvimg,region,0);
+	        } else {
+	            if (ocvimg.type() == CV_8UC1) {
+                    cvtColor(ocvimg, region, CV_GRAY2BGR);
+                } else {
+                    ocvimg.convertTo(region, CV_8UC3, 255.0);
+                }
+                flip(region,region,0);
+	        }
+
+	        glBindTexture( GL_TEXTURE_2D, tex_id );
+	        glTexImage2D(GL_TEXTURE_2D, 0, 3, tex_pow2.cols, tex_pow2.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, tex_pow2.data);
+	    }
+	}
+} OpenCVGLTexture;
+
+void glEnable2D();							// setup 2D drawing
+void glEnable2D(int w,int h, int x, int y);	// setup 2D drawing with viewport & postion setting
+void glDisable2D(); 						// end 2D drawing
+void glDisable2Dvp();						// end 2D drawing and pop viewport attrib
+OpenCVGLTexture MakeOpenCVGLTexture(const Mat& _tex_img); // create an OpenCV-OpenGL image
+
+// draw an OpenCV-OpenGL image
+void drawOpenCVImageInGLOnlyQuad(const OpenCVGLTexture& tex, int width, int height);
+void drawOpenCVImageInGLFullViewport(const OpenCVGLTexture& tex);
+
+}
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