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added OpenGL support to Gtk realization of highgui

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This commit is contained in:
Vladislav Vinogradov
2011-11-28 08:23:26 +00:00
parent fb2fad52a2
commit 2a4fb155e1
6 changed files with 1027 additions and 466 deletions
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38
samples/cpp/point_cloud.cpp
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@@ -76,7 +76,7 @@ int main(int argc, const char* argv[])
CommandLineParser cmd(argc, argv, keys);
if (cmd.get<bool>("help"))
if (cmd.get<bool>("help"))
{
cout << "Avaible options:" << endl;
cmd.printParams();
@@ -119,13 +119,13 @@ int main(int argc, const char* argv[])
{
cout << "Can't load image " << right << endl;
return -1;
}
}
Mat Q = Mat::eye(4, 4, CV_32F);
if (!intrinsic.empty() && !extrinsic.empty())
{
FileStorage fs;
// reading intrinsic parameters
fs.open(intrinsic, CV_STORAGE_READ);
if (!fs.isOpened())
@@ -133,13 +133,13 @@ int main(int argc, const char* argv[])
cout << "Failed to open file " << intrinsic << endl;
return -1;
}
Mat M1, D1, M2, D2;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
// reading extrinsic parameters
fs.open(extrinsic, CV_STORAGE_READ);
if (!fs.isOpened())
@@ -147,7 +147,7 @@ int main(int argc, const char* argv[])
cout << "Failed to open file " << extrinsic << endl;
return -1;
}
Mat R, T, R1, P1, R2, P2;
fs["R"] >> R;
fs["T"] >> T;
@@ -156,15 +156,15 @@ int main(int argc, const char* argv[])
Rect roi1, roi2;
stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
Mat map11, map12, map21, map22;
initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2, map11, map12);
initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2, map21, map22);
Mat img1r, img2r;
remap(imgLeftColor, img1r, map11, map12, INTER_LINEAR);
remap(imgRightColor, img2r, map21, map22, INTER_LINEAR);
imgLeftColor = img1r(roi1);
imgRightColor = img2r(roi2);
}
@@ -194,7 +194,7 @@ int main(int argc, const char* argv[])
int mouse[2] = {0, 0};
setMouseCallback("OpenGL Sample", mouseCallback, mouse);
GlArrays pointCloud;
pointCloud.setVertexArray(points);
@@ -202,7 +202,7 @@ int main(int argc, const char* argv[])
GlCamera camera;
camera.setScale(Point3d(scale, scale, scale));
double yaw = 0.0;
double pitch = 0.0;
@@ -214,17 +214,25 @@ int main(int argc, const char* argv[])
while (true)
{
int key = waitKey(1);
if (key >= 0)
key = key & 0xff;
if (key == 27)
break;
break;
double aspect = getWindowProperty("OpenGL Sample", WND_PROP_ASPECT_RATIO);
const double posStep = 0.1;
#ifdef _WIN32
const double mouseStep = 0.001;
#else
const double mouseStep = 0.000001;
#endif
const int mouseClamp = 300;
camera.setPerspectiveProjection(30.0 + fov / 100.0 * 40.0, aspect, 0.1, 1000.0);
camera.setPerspectiveProjection(30.0 + fov / 100.0 * 40.0, aspect, 0.1, 1000.0);
int mouse_dx = clamp(mouse[0], -mouseClamp, mouseClamp);
int mouse_dy = clamp(mouse[1], -mouseClamp, mouseClamp);