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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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158
modules/core/include/opencv2/core/gpumat.hpp
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@@ -241,11 +241,15 @@ namespace cv { namespace gpu
GlBuffer(Size size, int type, Usage usage);
//! copy from host/device memory
GlBuffer(const Mat& mat, Usage usage);
GlBuffer(InputArray mat, Usage usage);
GlBuffer(const GpuMat& d_mat, Usage usage);
GlBuffer(const GlBuffer& other);
~GlBuffer();
GlBuffer& operator =(const GlBuffer& other);
void create(int rows, int cols, int type, Usage usage);
inline void create(Size size, int type, Usage usage) { create(size.height, size.width, type, usage); }
inline void create(int rows, int cols, int type) { create(rows, cols, type, usage()); }
@@ -254,7 +258,7 @@ namespace cv { namespace gpu
void release();
//! copy from host/device memory
void copyFrom(const Mat& mat);
void copyFrom(InputArray mat);
void copyFrom(const GpuMat& d_mat);
void bind() const;
@@ -267,11 +271,12 @@ namespace cv { namespace gpu
//! map to device memory
GpuMat mapDevice();
void unmapDevice();
int rows;
int cols;
inline int rows() const { return rows_; }
inline int cols() const { return cols_; }
inline Size size() const { return Size(cols_, rows_); }
inline bool empty() const { return rows_ == 0 || cols_ == 0; }
inline Size size() const { return Size(cols, rows); }
inline bool empty() const { return rows == 0 || cols == 0; }
inline int type() const { return type_; }
inline int depth() const { return CV_MAT_DEPTH(type_); }
@@ -282,8 +287,6 @@ namespace cv { namespace gpu
inline Usage usage() const { return usage_; }
private:
int rows_;
int cols_;
int type_;
Usage usage_;
@@ -303,26 +306,31 @@ namespace cv { namespace gpu
GlTexture(Size size, int type);
//! copy from host/device memory
explicit GlTexture(const Mat& mat, bool bgra = true);
explicit GlTexture(InputArray mat, bool bgra = true);
explicit GlTexture(const GlBuffer& buf, bool bgra = true);
GlTexture(const GlTexture& other);
~GlTexture();
GlTexture& operator =(const GlTexture& other);
void create(int rows, int cols, int type);
inline void create(Size size, int type) { create(size.height, size.width, type); }
void release();
//! copy from host/device memory
void copyFrom(const Mat& mat, bool bgra = true);
void copyFrom(InputArray mat, bool bgra = true);
void copyFrom(const GlBuffer& buf, bool bgra = true);
void bind() const;
void unbind() const;
inline int rows() const { return rows_; }
inline int cols() const { return cols_; }
inline Size size() const { return Size(cols_, rows_); }
inline bool empty() const { return rows_ == 0 || cols_ == 0; }
int rows;
int cols;
inline Size size() const { return Size(cols, rows); }
inline bool empty() const { return rows == 0 || cols == 0; }
inline int type() const { return type_; }
inline int depth() const { return CV_MAT_DEPTH(type_); }
@@ -331,22 +339,136 @@ namespace cv { namespace gpu
inline int elemSize1() const { return CV_ELEM_SIZE1(type_); }
private:
int rows_;
int cols_;
int type_;
class Impl;
Ptr<Impl> impl_;
};
//! OpenGL Arrays
class CV_EXPORTS GlArrays
{
public:
inline GlArrays()
: vertex_(GlBuffer::ARRAY_BUFFER), color_(GlBuffer::ARRAY_BUFFER), bgra_(true), normal_(GlBuffer::ARRAY_BUFFER), texCoord_(GlBuffer::ARRAY_BUFFER)
{
}
void setVertexArray(const GlBuffer& vertex);
void setVertexArray(const GpuMat& vertex);
void setVertexArray(InputArray vertex);
inline void resetVertexArray() { vertex_.release(); }
void setColorArray(const GlBuffer& color, bool bgra = true);
void setColorArray(const GpuMat& color, bool bgra = true);
void setColorArray(InputArray color, bool bgra = true);
inline void resetColorArray() { color_.release(); }
void setNormalArray(const GlBuffer& normal);
void setNormalArray(const GpuMat& normal);
void setNormalArray(InputArray normal);
inline void resetNormalArray() { normal_.release(); }
void setTexCoordArray(const GlBuffer& texCoord);
void setTexCoordArray(const GpuMat& texCoord);
void setTexCoordArray(InputArray texCoord);
inline void resetTexCoordArray() { texCoord_.release(); }
void bind() const;
void unbind() const;
inline int rows() const { return vertex_.rows; }
inline int cols() const { return vertex_.cols; }
inline Size size() const { return vertex_.size(); }
inline bool empty() const { return vertex_.empty(); }
private:
GlBuffer vertex_;
GlBuffer color_;
bool bgra_;
GlBuffer normal_;
GlBuffer texCoord_;
};
//! render functions
CV_EXPORTS void render(const GlTexture& tex);
//! render texture rectangle in window
CV_EXPORTS void render(const GlTexture& tex,
Rect_<double> wndRect = Rect_<double>(0.0, 0.0, 1.0, 1.0),
Rect_<double> texRect = Rect_<double>(0.0, 0.0, 1.0, 1.0));
//! render mode
namespace RenderMode {
enum {
POINTS = 0x0000,
LINES = 0x0001,
LINE_LOOP = 0x0002,
LINE_STRIP = 0x0003,
TRIANGLES = 0x0004,
TRIANGLE_STRIP = 0x0005,
TRIANGLE_FAN = 0x0006,
QUADS = 0x0007,
QUAD_STRIP = 0x0008,
POLYGON = 0x0009
};
}
//! render OpenGL arrays
CV_EXPORTS void render(const GlArrays& arr, int mode = RenderMode::POINTS);
//! OpenGL camera
class CV_EXPORTS GlCamera
{
public:
GlCamera();
void lookAt(Point3d eye, Point3d center, Point3d up);
void setCameraPos(Point3d pos, double yaw, double pitch, double roll);
void setScale(Point3d scale);
void setProjectionMatrix(const Mat& projectionMatrix, bool transpose = true);
void setPerspectiveProjection(double fov, double aspect, double zNear, double zFar);
void setOrthoProjection(double left, double right, double bottom, double top, double zNear, double zFar);
void setupProjectionMatrix() const;
void setupModelViewMatrix() const;
private:
Point3d eye_;
Point3d center_;
Point3d up_;
Point3d pos_;
double yaw_;
double pitch_;
double roll_;
bool useLookAtParams_;
Point3d scale_;
Mat projectionMatrix_;
double fov_;
double aspect_;
double left_;
double right_;
double bottom_;
double top_;
double zNear_;
double zFar_;
bool perspectiveProjection_;
};
//! OpenGL extension table
class CV_EXPORTS GlFuncTab
{
public:
virtual ~GlFuncTab() {}
virtual ~GlFuncTab();
virtual void genBuffers(int n, unsigned int* buffers) const = 0;
virtual void deleteBuffers(int n, const unsigned int* buffers) const = 0;