updated OpenGL functionality:

* removed OpenGLFuncTab, now extensions are loaded internally
* added support of GlBuffer and GlTexture2D to InputArray/OutputArray
* added ELEMENT_ARRAY_BUFFER and PIXEL_PACK_BUFFER targets
* added copyFrom/copyTo method for GlBuffer and GlTexture2D
* removed GlFont
* removed pointCloudShow
* removed OpenGLCleanCallback
* added Access parameter to GlBuffer::mapHost
* added autoRelease parameter to all create methods

modules/core/include/opencv2/core/core.hpp

@@ -1387,6 +1387,8 @@ public:
     template<typename _Tp, int m, int n> _OutputArray(Matx<_Tp, m, n>& matx);
     template<typename _Tp> _OutputArray(_Tp* vec, int n);
     _OutputArray(gpu::GpuMat& d_mat);
+    _OutputArray(GlBuffer& buf);
+    _OutputArray(GlTexture& tex);
 
     _OutputArray(const Mat& m);
     template<typename _Tp> _OutputArray(const vector<_Tp>& vec);
@@ -1397,12 +1399,16 @@ public:
     template<typename _Tp, int m, int n> _OutputArray(const Matx<_Tp, m, n>& matx);
     template<typename _Tp> _OutputArray(const _Tp* vec, int n);
     _OutputArray(const gpu::GpuMat& d_mat);
+    _OutputArray(const GlBuffer& buf);
+    _OutputArray(const GlTexture& tex);
 
     virtual bool fixedSize() const;
     virtual bool fixedType() const;
     virtual bool needed() const;
     virtual Mat& getMatRef(int i=-1) const;
     /*virtual*/ gpu::GpuMat& getGpuMatRef() const;
+    /*virtual*/ GlBuffer& getGlBufferRef() const;
+    /*virtual*/ GlTexture& getGlTextureRef() const;
     virtual void create(Size sz, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;
     virtual void create(int rows, int cols, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;
     virtual void create(int dims, const int* size, int type, int i=-1, bool allowTransposed=false, int fixedDepthMask=0) const;

modules/core/include/opencv2/core/internal.hpp

@@ -750,39 +750,4 @@ typedef struct CvBigFuncTable
     (tab).fn_2d[CV_32F] = (void*)FUNCNAME##_32f##FLAG;  \
     (tab).fn_2d[CV_64F] = (void*)FUNCNAME##_64f##FLAG
 
-#ifdef __cplusplus
-//! OpenGL extension table
-class CV_EXPORTS CvOpenGlFuncTab
-{
-public:
-    virtual ~CvOpenGlFuncTab();
-
-    virtual void genBuffers(int n, unsigned int* buffers) const = 0;
-    virtual void deleteBuffers(int n, const unsigned int* buffers) const = 0;
-
-    virtual void bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const = 0;
-    virtual void bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const = 0;
-
-    virtual void bindBuffer(unsigned int target, unsigned int buffer) const = 0;
-
-    virtual void* mapBuffer(unsigned int target, unsigned int access) const = 0;
-    virtual void unmapBuffer(unsigned int target) const = 0;
-
-    virtual void generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool underline, int start, int count, int base) const = 0;
-
-    virtual bool isGlContextInitialized() const = 0;
-};
-
-CV_EXPORTS void icvSetOpenGlFuncTab(const CvOpenGlFuncTab* tab);
-
-CV_EXPORTS bool icvCheckGlError(const char* file, const int line, const char* func = "");
-
-#if defined(__GNUC__)
-    #define CV_CheckGlError() CV_DbgAssert( (::icvCheckGlError(__FILE__, __LINE__, __func__)) )
-#else
-    #define CV_CheckGlError() CV_DbgAssert( (::icvCheckGlError(__FILE__, __LINE__)) )
-#endif
-
-#endif //__cplusplus
-
 #endif // __OPENCV_CORE_INTERNAL_HPP__

modules/core/include/opencv2/core/opengl_interop.hpp

@@ -47,117 +47,169 @@
 
 #include "opencv2/core/core.hpp"
 
-namespace cv
+namespace cv {
-{
+
+CV_EXPORTS bool checkGlError(const char* file, const int line, const char* func = "");
+
+#if defined(__GNUC__)
+    #define CV_CheckGlError() CV_DbgAssert( (cv::checkGlError(__FILE__, __LINE__, __func__)) )
+#else
+    #define CV_CheckGlError() CV_DbgAssert( (cv::checkGlError(__FILE__, __LINE__)) )
+#endif
+
+/////////////////// OpenGL Objects ///////////////////
+
 //! Smart pointer for OpenGL buffer memory with reference counting.
 class CV_EXPORTS GlBuffer
 {
 public:
-    enum Usage
+    enum Target
     {
-        ARRAY_BUFFER = 0x8892,  // buffer will use for OpenGL arrays (vertices, colors, normals, etc)
+        ARRAY_BUFFER         = 0x8892, //!< The buffer will be used as a source for vertex data
-        TEXTURE_BUFFER = 0x88EC // buffer will ise for OpenGL textures
+        ELEMENT_ARRAY_BUFFER = 0x8893, //!< The buffer will be used for indices (in glDrawElements, for example)
+        PIXEL_PACK_BUFFER    = 0x88EB, //!< The buffer will be used for reading from OpenGL textures
+        PIXEL_UNPACK_BUFFER  = 0x88EC  //!< The buffer will be used for writing to OpenGL textures
+    };
+
+    enum Access
+    {
+        READ_ONLY  = 0x88B8,
+        WRITE_ONLY = 0x88B9,
+        READ_WRITE = 0x88BA
     };
 
     //! create empty buffer
-    explicit GlBuffer(Usage usage);
+    GlBuffer();
+
+    //! create buffer from existed buffer id
+    GlBuffer(int arows, int acols, int atype, unsigned int abufId, bool autoRelease = false);
+    GlBuffer(Size asize, int atype, unsigned int abufId, bool autoRelease = false);
 
     //! create buffer
-    GlBuffer(int rows, int cols, int type, Usage usage);
+    GlBuffer(int arows, int acols, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
-    GlBuffer(Size size, int type, Usage usage);
+    GlBuffer(Size asize, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
 
     //! copy from host/device memory
-    GlBuffer(InputArray mat, Usage usage);
+    explicit GlBuffer(InputArray arr, Target target = ARRAY_BUFFER, bool autoRelease = false);
 
-    void create(int rows, int cols, int type, Usage usage);
+    //! create buffer
-    void create(Size size, int type, Usage usage);
+    void create(int arows, int acols, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false);
-    void create(int rows, int cols, int type);
+    void create(Size asize, int atype, Target target = ARRAY_BUFFER, bool autoRelease = false) { create(asize.height, asize.width, atype, target, autoRelease); }
-    void create(Size size, int type);
 
+    //! release memory and delete buffer object
     void release();
 
-    //! copy from host/device memory
+    //! set auto release mode (if true, release will be called in object's destructor)
-    void copyFrom(InputArray mat);
+    void setAutoRelease(bool flag);
 
-    void bind() const;
+    //! copy from host/device memory
-    void unbind() const;
+    void copyFrom(InputArray arr, Target target = ARRAY_BUFFER, bool autoRelease = false);
+
+    //! copy to host/device memory
+    void copyTo(OutputArray arr, Target target = ARRAY_BUFFER, bool autoRelease = false) const;
+
+    //! create copy of current buffer
+    GlBuffer clone(Target target = ARRAY_BUFFER, bool autoRelease = false) const;
+
+    //! bind buffer for specified target
+    void bind(Target target) const;
+
+    //! unbind any buffers from specified target
+    static void unbind(Target target);
 
     //! map to host memory
-    Mat mapHost();
+    Mat mapHost(Access access);
     void unmapHost();
 
     //! map to device memory
     gpu::GpuMat mapDevice();
     void unmapDevice();
 
-    inline int rows() const { return rows_; }
+    int rows() const { return rows_; }
-    inline int cols() const { return cols_; }
+    int cols() const { return cols_; }
-    inline Size size() const { return Size(cols_, rows_); }
+    Size size() const { return Size(cols_, rows_); }
-    inline bool empty() const { return rows_ == 0 || cols_ == 0; }
+    bool empty() const { return rows_ == 0 || cols_ == 0; }
 
-    inline int type() const { return type_; }
+    int type() const { return type_; }
-    inline int depth() const { return CV_MAT_DEPTH(type_); }
+    int depth() const { return CV_MAT_DEPTH(type_); }
-    inline int channels() const { return CV_MAT_CN(type_); }
+    int channels() const { return CV_MAT_CN(type_); }
-    inline int elemSize() const { return CV_ELEM_SIZE(type_); }
+    int elemSize() const { return CV_ELEM_SIZE(type_); }
-    inline int elemSize1() const { return CV_ELEM_SIZE1(type_); }
+    int elemSize1() const { return CV_ELEM_SIZE1(type_); }
 
-    inline Usage usage() const { return usage_; }
+    unsigned int bufId() const;
 
     class Impl;
+
 private:
+    Ptr<Impl> impl_;
     int rows_;
     int cols_;
     int type_;
-    Usage usage_;
-
-    Ptr<Impl> impl_;
 };
 
 template <> CV_EXPORTS void Ptr<GlBuffer::Impl>::delete_obj();
 
-//! Smart pointer for OpenGL 2d texture memory with reference counting.
+//! Smart pointer for OpenGL 2D texture memory with reference counting.
 class CV_EXPORTS GlTexture
 {
 public:
+    enum Format
+    {
+        NONE            = 0,
+        DEPTH_COMPONENT = 0x1902, //!< Depth
+        RGB             = 0x1907, //!< Red, Green, Blue
+        RGBA            = 0x1908  //!< Red, Green, Blue, Alpha
+    };
+
     //! create empty texture
     GlTexture();
 
+    //! create texture from existed texture id
+    GlTexture(int arows, int acols, Format aformat, unsigned int atexId, bool autoRelease = false);
+    GlTexture(Size asize, Format aformat, unsigned int atexId, bool autoRelease = false);
+
     //! create texture
-    GlTexture(int rows, int cols, int type);
+    GlTexture(int arows, int acols, Format aformat, bool autoRelease = false);
-    GlTexture(Size size, int type);
+    GlTexture(Size asize, Format aformat, bool autoRelease = false);
 
     //! copy from host/device memory
-    explicit GlTexture(InputArray mat, bool bgra = true);
+    explicit GlTexture(InputArray arr, bool autoRelease = false);
 
-    void create(int rows, int cols, int type);
+    //! create texture
-    void create(Size size, int type);
+    void create(int arows, int acols, Format aformat, bool autoRelease = false);
+    void create(Size asize, Format aformat, bool autoRelease = false) { create(asize.height, asize.width, aformat, autoRelease); }
+
+    //! release memory and delete texture object
     void release();
 
+    //! set auto release mode (if true, release will be called in object's destructor)
+    void setAutoRelease(bool flag);
+
     //! copy from host/device memory
-    void copyFrom(InputArray mat, bool bgra = true);
+    void copyFrom(InputArray arr, bool autoRelease = false);
 
+    //! copy to host/device memory
+    void copyTo(OutputArray arr, int ddepth = CV_32F, bool autoRelease = false) const;
+
+    //! bind texture to current active texture unit for GL_TEXTURE_2D target
     void bind() const;
-    void unbind() const;
 
-    inline int rows() const { return rows_; }
+    int rows() const { return rows_; }
-    inline int cols() const { return cols_; }
+    int cols() const { return cols_; }
-    inline Size size() const { return Size(cols_, rows_); }
+    Size size() const { return Size(cols_, rows_); }
-    inline bool empty() const { return rows_ == 0 || cols_ == 0; }
+    bool empty() const { return rows_ == 0 || cols_ == 0; }
 
-    inline int type() const { return type_; }
+    Format format() const { return format_; }
-    inline int depth() const { return CV_MAT_DEPTH(type_); }
+
-    inline int channels() const { return CV_MAT_CN(type_); }
+    unsigned int texId() const;
-    inline int elemSize() const { return CV_ELEM_SIZE(type_); }
-    inline int elemSize1() const { return CV_ELEM_SIZE1(type_); }
 
     class Impl;
+
 private:
+    Ptr<Impl> impl_;
     int rows_;
     int cols_;
-    int type_;
+    Format format_;
-
-    Ptr<Impl> impl_;
-    GlBuffer buf_;
 };
 
 template <> CV_EXPORTS void Ptr<GlTexture::Impl>::delete_obj();
@@ -166,83 +218,38 @@ template <> CV_EXPORTS void Ptr<GlTexture::Impl>::delete_obj();
 class CV_EXPORTS GlArrays
 {
 public:
-    inline GlArrays()
+    GlArrays();
-        : vertex_(GlBuffer::ARRAY_BUFFER), color_(GlBuffer::ARRAY_BUFFER), bgra_(true), normal_(GlBuffer::ARRAY_BUFFER), texCoord_(GlBuffer::ARRAY_BUFFER)
-    {
-    }
 
     void setVertexArray(InputArray vertex);
-    inline void resetVertexArray() { vertex_.release(); }
+    void resetVertexArray();
 
-    void setColorArray(InputArray color, bool bgra = true);
+    void setColorArray(InputArray color);
-    inline void resetColorArray() { color_.release(); }
+    void resetColorArray();
 
     void setNormalArray(InputArray normal);
-    inline void resetNormalArray() { normal_.release(); }
+    void resetNormalArray();
 
     void setTexCoordArray(InputArray texCoord);
-    inline void resetTexCoordArray() { texCoord_.release(); }
+    void resetTexCoordArray();
+
+    void release();
+
+    void setAutoRelease(bool flag);
 
     void bind() const;
-    void unbind() const;
 
-    inline int rows() const { return vertex_.rows(); }
+    int size() const { return size_; }
-    inline int cols() const { return vertex_.cols(); }
+    bool empty() const { return size_ == 0; }
-    inline Size size() const { return vertex_.size(); }
-    inline bool empty() const { return vertex_.empty(); }
 
 private:
+    int size_;
     GlBuffer vertex_;
     GlBuffer color_;
-    bool bgra_;
     GlBuffer normal_;
     GlBuffer texCoord_;
 };
 
-//! OpenGL Font
+/////////////////// Render Functions ///////////////////
-class CV_EXPORTS GlFont
-{
-public:
-    enum Weight
-    {
-        WEIGHT_LIGHT    = 300,
-        WEIGHT_NORMAL   = 400,
-        WEIGHT_SEMIBOLD = 600,
-        WEIGHT_BOLD     = 700,
-        WEIGHT_BLACK    = 900
-    };
-
-    enum Style
-    {
-        STYLE_NORMAL    = 0,
-        STYLE_ITALIC    = 1,
-        STYLE_UNDERLINE = 2
-    };
-
-    static Ptr<GlFont> get(const std::string& family, int height = 12, Weight weight = WEIGHT_NORMAL, Style style = STYLE_NORMAL);
-
-    void draw(const char* str, int len) const;
-
-    inline const std::string& family() const { return family_; }
-    inline int height() const { return height_; }
-    inline Weight weight() const { return weight_; }
-    inline Style style() const { return style_; }
-
-private:
-    GlFont(const std::string& family, int height, Weight weight, Style style);
-
-    std::string family_;
-    int height_;
-    Weight weight_;
-    Style style_;
-
-    unsigned int base_;
-
-    GlFont(const GlFont&);
-    GlFont& operator =(const GlFont&);
-};
-
-//! render functions
 
 //! render texture rectangle in window
 CV_EXPORTS void render(const GlTexture& tex,
@@ -267,67 +274,13 @@ namespace RenderMode {
 
 //! render OpenGL arrays
 CV_EXPORTS void render(const GlArrays& arr, int mode = RenderMode::POINTS, Scalar color = Scalar::all(255));
+CV_EXPORTS void render(const GlArrays& arr, InputArray indices, int mode = RenderMode::POINTS, Scalar color = Scalar::all(255));
 
-CV_EXPORTS void render(const std::string& str, const Ptr<GlFont>& font, Scalar color, Point2d pos);
+namespace gpu {
-
-//! 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_;
-};
-
-inline void GlBuffer::create(Size _size, int _type, Usage _usage) { create(_size.height, _size.width, _type, _usage); }
-inline void GlBuffer::create(int _rows, int _cols, int _type) { create(_rows, _cols, _type, usage()); }
-inline void GlBuffer::create(Size _size, int _type) { create(_size.height, _size.width, _type, usage()); }
-inline void GlTexture::create(Size _size, int _type) { create(_size.height, _size.width, _type); }
-
-namespace gpu
-{
     //! set a CUDA device to use OpenGL interoperability
     CV_EXPORTS void setGlDevice(int device = 0);
 }
+
 } // namespace cv
 
 #endif // __cplusplus

modules/core/src/matrix.cpp

@@ -925,8 +925,8 @@ _InputArray::_InputArray(const Mat& m) : flags(MAT), obj((void*)&m) {}
 _InputArray::_InputArray(const vector<Mat>& vec) : flags(STD_VECTOR_MAT), obj((void*)&vec) {}
 _InputArray::_InputArray(const double& val) : flags(FIXED_TYPE + FIXED_SIZE + MATX + CV_64F), obj((void*)&val), sz(Size(1,1)) {}
 _InputArray::_InputArray(const MatExpr& expr) : flags(FIXED_TYPE + FIXED_SIZE + EXPR), obj((void*)&expr) {}
-_InputArray::_InputArray(const GlBuffer& buf) : flags(FIXED_TYPE + FIXED_SIZE + OPENGL_BUFFER), obj((void*)&buf) {}
+_InputArray::_InputArray(const GlBuffer& buf) : flags(OPENGL_BUFFER), obj((void*)&buf) {}
-_InputArray::_InputArray(const GlTexture& tex) : flags(FIXED_TYPE + FIXED_SIZE + OPENGL_TEXTURE), obj((void*)&tex) {}
+_InputArray::_InputArray(const GlTexture& tex) : flags(OPENGL_TEXTURE), obj((void*)&tex) {}
 _InputArray::_InputArray(const gpu::GpuMat& d_mat) : flags(GPU_MAT), obj((void*)&d_mat) {}
 
 Mat _InputArray::getMat(int i) const
@@ -1237,9 +1237,6 @@ int _InputArray::type(int i) const
     if( k == OPENGL_BUFFER )
         return ((const GlBuffer*)obj)->type();
 
-    if( k == OPENGL_TEXTURE )
-        return ((const GlTexture*)obj)->type();
-
     CV_Assert( k == GPU_MAT );
     //if( k == GPU_MAT )
         return ((const gpu::GpuMat*)obj)->type();
@@ -1308,10 +1305,14 @@ _OutputArray::~_OutputArray() {}
 _OutputArray::_OutputArray(Mat& m) : _InputArray(m) {}
 _OutputArray::_OutputArray(vector<Mat>& vec) : _InputArray(vec) {}
 _OutputArray::_OutputArray(gpu::GpuMat& d_mat) : _InputArray(d_mat) {}
+_OutputArray::_OutputArray(GlBuffer& buf) : _InputArray(buf) {}
+_OutputArray::_OutputArray(GlTexture& tex) : _InputArray(tex) {}
 
 _OutputArray::_OutputArray(const Mat& m) : _InputArray(m) {flags |= FIXED_SIZE|FIXED_TYPE;}
 _OutputArray::_OutputArray(const vector<Mat>& vec) : _InputArray(vec) {flags |= FIXED_SIZE;}
 _OutputArray::_OutputArray(const gpu::GpuMat& d_mat) : _InputArray(d_mat) {flags |= FIXED_SIZE|FIXED_TYPE;}
+_OutputArray::_OutputArray(const GlBuffer& buf) : _InputArray(buf) {flags |= FIXED_SIZE|FIXED_TYPE;}
+_OutputArray::_OutputArray(const GlTexture& tex) : _InputArray(tex) {flags |= FIXED_SIZE|FIXED_TYPE;}
 
 
 bool _OutputArray::fixedSize() const
@@ -1341,6 +1342,13 @@ void _OutputArray::create(Size _sz, int mtype, int i, bool allowTransposed, int
         ((gpu::GpuMat*)obj)->create(_sz, mtype);
         return;
     }
+    if( k == OPENGL_BUFFER && i < 0 && !allowTransposed && fixedDepthMask == 0 )
+    {
+        CV_Assert(!fixedSize() || ((GlBuffer*)obj)->size() == _sz);
+        CV_Assert(!fixedType() || ((GlBuffer*)obj)->type() == mtype);
+        ((GlBuffer*)obj)->create(_sz, mtype);
+        return;
+    }
     int sizes[] = {_sz.height, _sz.width};
     create(2, sizes, mtype, i, allowTransposed, fixedDepthMask);
 }
@@ -1362,6 +1370,13 @@ void _OutputArray::create(int rows, int cols, int mtype, int i, bool allowTransp
         ((gpu::GpuMat*)obj)->create(rows, cols, mtype);
         return;
     }
+    if( k == OPENGL_BUFFER && i < 0 && !allowTransposed && fixedDepthMask == 0 )
+    {
+        CV_Assert(!fixedSize() || ((GlBuffer*)obj)->size() == Size(cols, rows));
+        CV_Assert(!fixedType() || ((GlBuffer*)obj)->type() == mtype);
+        ((GlBuffer*)obj)->create(rows, cols, mtype);
+        return;
+    }
     int sizes[] = {rows, cols};
     create(2, sizes, mtype, i, allowTransposed, fixedDepthMask);
 }
@@ -1581,6 +1596,18 @@ void _OutputArray::release() const
         return;
     }
 
+    if( k == OPENGL_BUFFER )
+    {
+        ((GlBuffer*)obj)->release();
+        return;
+    }
+
+    if( k == OPENGL_TEXTURE )
+    {
+        ((GlTexture*)obj)->release();
+        return;
+    }
+
     if( k == NONE )
         return;
 
@@ -1646,6 +1673,20 @@ gpu::GpuMat& _OutputArray::getGpuMatRef() const
     return *(gpu::GpuMat*)obj;
 }
 
+GlBuffer& _OutputArray::getGlBufferRef() const
+{
+    int k = kind();
+    CV_Assert( k == OPENGL_BUFFER );
+    return *(GlBuffer*)obj;
+}
+
+GlTexture& _OutputArray::getGlTextureRef() const
+{
+    int k = kind();
+    CV_Assert( k == OPENGL_TEXTURE );
+    return *(GlTexture*)obj;
+}
+
 static _OutputArray _none;
 OutputArray noArray() { return _none; }
 

modules/gpu/test/test_opengl.cpp

@@ -0,0 +1,508 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+#if defined(HAVE_CUDA) && defined(HAVE_OPENGL)
+
+/////////////////////////////////////////////
+// GlBuffer
+
+PARAM_TEST_CASE(GlBuffer, cv::Size, MatType)
+{
+    static void SetUpTestCase()
+    {
+        cv::namedWindow("test", cv::WINDOW_OPENGL);
+    }
+
+    static void TearDownTestCase()
+    {
+        cv::destroyAllWindows();
+    }
+
+    cv::Size size;
+    int type;
+
+    virtual void SetUp()
+    {
+        size = GET_PARAM(0);
+        type = GET_PARAM(1);
+    }
+};
+
+GPU_TEST_P(GlBuffer, Constructor1)
+{
+    cv::GlBuffer buf(size.height, size.width, type, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_EQ(size.height, buf.rows());
+    EXPECT_EQ(size.width, buf.cols());
+    EXPECT_EQ(type, buf.type());
+}
+
+GPU_TEST_P(GlBuffer, Constructor2)
+{
+    cv::GlBuffer buf(size, type, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_EQ(size.height, buf.rows());
+    EXPECT_EQ(size.width, buf.cols());
+    EXPECT_EQ(type, buf.type());
+}
+
+GPU_TEST_P(GlBuffer, ConstructorFromMat)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, ConstructorFromGpuMat)
+{
+    cv::Mat gold = randomMat(size, type);
+    cv::gpu::GpuMat d_gold(gold);
+
+    cv::GlBuffer buf(d_gold, cv::GlBuffer::ARRAY_BUFFER);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, ConstructorFromGlBuffer)
+{
+    cv::GlBuffer buf_gold(size, type, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::GlBuffer buf(buf_gold);
+
+    EXPECT_EQ(buf_gold.bufId(), buf.bufId());
+    EXPECT_EQ(buf_gold.rows(), buf.rows());
+    EXPECT_EQ(buf_gold.cols(), buf.cols());
+    EXPECT_EQ(buf_gold.type(), buf.type());
+}
+
+GPU_TEST_P(GlBuffer, ConstructorFromGlTexture)
+{
+    const int depth = CV_MAT_DEPTH(type);
+    const int cn = CV_MAT_CN(type);
+
+    if (depth != CV_32F || cn == 2)
+        return;
+
+    cv::Mat gold = randomMat(size, type, 0, 1.0);
+    cv::GlTexture tex_gold(gold, true);
+
+    cv::GlBuffer buf(tex_gold, cv::GlBuffer::PIXEL_PACK_BUFFER, true);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 1e-2);
+}
+
+GPU_TEST_P(GlBuffer, Create)
+{
+    cv::GlBuffer buf;
+    buf.create(size.height, size.width, type, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_EQ(size.height, buf.rows());
+    EXPECT_EQ(size.width, buf.cols());
+    EXPECT_EQ(type, buf.type());
+}
+
+GPU_TEST_P(GlBuffer, CopyFromMat)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf;
+    buf.copyFrom(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, CopyFromGpuMat)
+{
+    cv::Mat gold = randomMat(size, type);
+    cv::gpu::GpuMat d_gold(gold);
+
+    cv::GlBuffer buf;
+    buf.copyFrom(d_gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, CopyFromGlBuffer)
+{
+    cv::Mat gold = randomMat(size, type);
+    cv::GlBuffer buf_gold(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::GlBuffer buf;
+    buf.copyFrom(buf_gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_NE(buf_gold.bufId(), buf.bufId());
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, CopyFromGlTexture)
+{
+    const int depth = CV_MAT_DEPTH(type);
+    const int cn = CV_MAT_CN(type);
+
+    if (depth != CV_32F || cn == 2)
+        return;
+
+    cv::Mat gold = randomMat(size, type, 0, 1.0);
+    cv::GlTexture tex_gold(gold, true);
+
+    cv::GlBuffer buf;
+    buf.copyFrom(tex_gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 1e-2);
+}
+
+GPU_TEST_P(GlBuffer, CopyToGpuMat)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::gpu::GpuMat dst;
+    buf.copyTo(dst);
+
+    EXPECT_MAT_NEAR(gold, dst, 0);
+}
+
+GPU_TEST_P(GlBuffer, CopyToGlBuffer)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::GlBuffer dst;
+    buf.copyTo(dst, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_NE(buf.bufId(), dst.bufId());
+
+    cv::Mat bufData;
+    dst.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, CopyToGlTexture)
+{
+    const int depth = CV_MAT_DEPTH(type);
+    const int cn = CV_MAT_CN(type);
+
+    if (depth != CV_32F || cn == 2)
+        return;
+
+    cv::Mat gold = randomMat(size, type, 0, 1.0);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::PIXEL_PACK_BUFFER, true);
+
+    cv::GlTexture tex;
+    buf.copyTo(tex, cv::GlBuffer::PIXEL_PACK_BUFFER, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlBuffer, Clone)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::GlBuffer dst = buf.clone(cv::GlBuffer::ARRAY_BUFFER, true);
+
+    EXPECT_NE(buf.bufId(), dst.bufId());
+
+    cv::Mat bufData;
+    dst.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, MapHostRead)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat dst = buf.mapHost(cv::GlBuffer::READ_ONLY);
+
+    EXPECT_MAT_NEAR(gold, dst, 0);
+
+    buf.unmapHost();
+}
+
+GPU_TEST_P(GlBuffer, MapHostWrite)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(size, type, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::Mat dst = buf.mapHost(cv::GlBuffer::WRITE_ONLY);
+    gold.copyTo(dst);
+    buf.unmapHost();
+    dst.release();
+
+    cv::Mat bufData;
+    buf.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 0);
+}
+
+GPU_TEST_P(GlBuffer, MapDevice)
+{
+    cv::Mat gold = randomMat(size, type);
+
+    cv::GlBuffer buf(gold, cv::GlBuffer::ARRAY_BUFFER, true);
+
+    cv::gpu::GpuMat dst = buf.mapDevice();
+
+    EXPECT_MAT_NEAR(gold, dst, 0);
+
+    buf.unmapDevice();
+}
+
+INSTANTIATE_TEST_CASE_P(OpenGL, GlBuffer, testing::Combine(DIFFERENT_SIZES, ALL_TYPES));
+
+/////////////////////////////////////////////
+// GlTexture
+
+PARAM_TEST_CASE(GlTexture, cv::Size, MatType)
+{
+    static void SetUpTestCase()
+    {
+        cv::namedWindow("test", cv::WINDOW_OPENGL);
+    }
+
+    static void TearDownTestCase()
+    {
+        cv::destroyAllWindows();
+    }
+
+    cv::Size size;
+    int type;
+    int depth;
+    int cn;
+    cv::GlTexture::Format format;
+
+    virtual void SetUp()
+    {
+        size = GET_PARAM(0);
+        type = GET_PARAM(1);
+
+        depth = CV_MAT_DEPTH(type);
+        cn = CV_MAT_CN(type);
+        format = cn == 1 ? cv::GlTexture::DEPTH_COMPONENT : cn == 3 ? cv::GlTexture::RGB : cn == 4 ? cv::GlTexture::RGBA : cv::GlTexture::NONE;
+    }
+};
+
+GPU_TEST_P(GlTexture, Constructor1)
+{
+    cv::GlTexture tex(size.height, size.width, format, true);
+
+    EXPECT_EQ(size.height, tex.rows());
+    EXPECT_EQ(size.width, tex.cols());
+    EXPECT_EQ(format, tex.format());
+}
+
+GPU_TEST_P(GlTexture, Constructor2)
+{
+    cv::GlTexture tex(size, format, true);
+
+    EXPECT_EQ(size.height, tex.rows());
+    EXPECT_EQ(size.width, tex.cols());
+    EXPECT_EQ(format, tex.format());
+}
+
+GPU_TEST_P(GlTexture, ConstructorFromMat)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+
+    cv::GlTexture tex(gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, ConstructorFromGpuMat)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+    cv::gpu::GpuMat d_gold(gold);
+
+    cv::GlTexture tex(d_gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, ConstructorFromGlBuffer)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+    cv::GlBuffer buf_gold(gold, cv::GlBuffer::PIXEL_UNPACK_BUFFER, true);
+
+    cv::GlTexture tex(buf_gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, ConstructorFromGlTexture)
+{
+    cv::GlTexture tex_gold(size, format, true);
+    cv::GlTexture tex(tex_gold);
+
+    EXPECT_EQ(tex_gold.texId(), tex.texId());
+    EXPECT_EQ(tex_gold.rows(), tex.rows());
+    EXPECT_EQ(tex_gold.cols(), tex.cols());
+    EXPECT_EQ(tex_gold.format(), tex.format());
+}
+
+GPU_TEST_P(GlTexture, Create)
+{
+    cv::GlTexture tex;
+    tex.create(size.height, size.width, format, true);
+
+    EXPECT_EQ(size.height, tex.rows());
+    EXPECT_EQ(size.width, tex.cols());
+    EXPECT_EQ(format, tex.format());
+}
+
+GPU_TEST_P(GlTexture, CopyFromMat)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+
+    cv::GlTexture tex;
+    tex.copyFrom(gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, CopyFromGpuMat)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+    cv::gpu::GpuMat d_gold(gold);
+
+    cv::GlTexture tex;
+    tex.copyFrom(d_gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, CopyFromGlBuffer)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+    cv::GlBuffer buf_gold(gold, cv::GlBuffer::PIXEL_UNPACK_BUFFER, true);
+
+    cv::GlTexture tex;
+    tex.copyFrom(buf_gold, true);
+
+    cv::Mat texData;
+    tex.copyTo(texData, depth);
+
+    EXPECT_MAT_NEAR(gold, texData, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, CopyToGpuMat)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+
+    cv::GlTexture tex(gold, true);
+
+    cv::gpu::GpuMat dst;
+    tex.copyTo(dst, depth);
+
+    EXPECT_MAT_NEAR(gold, dst, 1e-2);
+}
+
+GPU_TEST_P(GlTexture, CopyToGlBuffer)
+{
+    cv::Mat gold = randomMat(size, type, 0, depth == CV_8U ? 255 : 1);
+
+    cv::GlTexture tex(gold, true);
+
+    cv::GlBuffer dst;
+    tex.copyTo(dst, depth, true);
+
+    cv::Mat bufData;
+    dst.copyTo(bufData);
+
+    EXPECT_MAT_NEAR(gold, bufData, 1e-2);
+}
+
+INSTANTIATE_TEST_CASE_P(OpenGL, GlTexture, testing::Combine(DIFFERENT_SIZES, testing::Values(CV_8UC1, CV_8UC3, CV_8UC4, CV_32FC1, CV_32FC3, CV_32FC4)));
+
+#endif

modules/gpu/test/test_precomp.hpp

@@ -70,6 +70,7 @@
     #include <cuda_runtime.h>
 
     #include "opencv2/core/core.hpp"
+    #include "opencv2/core/opengl_interop.hpp"
     #include "opencv2/highgui/highgui.hpp"
     #include "opencv2/calib3d/calib3d.hpp"
     #include "opencv2/imgproc/imgproc.hpp"

modules/highgui/include/opencv2/highgui/highgui.hpp

@@ -125,16 +125,13 @@ CV_EXPORTS_W void setTrackbarPos(const string& trackbarname, const string& winna
 
 // OpenGL support
 
-typedef void (*OpenGlDrawCallback)(void* userdata);
+typedef void (CV_CDECL *OpenGlDrawCallback)(void* userdata);
 CV_EXPORTS void setOpenGlDrawCallback(const string& winname, OpenGlDrawCallback onOpenGlDraw, void* userdata = 0);
 
 CV_EXPORTS void setOpenGlContext(const string& winname);
 
 CV_EXPORTS void updateWindow(const string& winname);
 
-CV_EXPORTS void pointCloudShow(const string& winname, const GlCamera& camera, const GlArrays& arr);
-CV_EXPORTS void pointCloudShow(const string& winname, const GlCamera& camera, InputArray points, InputArray colors = noArray());
-
 //Only for Qt
 
 CV_EXPORTS CvFont fontQt(const string& nameFont, int pointSize=-1,

modules/highgui/src/precomp.hpp

@@ -206,9 +206,6 @@ void cvSetRatioWindow_QT(const char* name,double prop_value);
 double cvGetOpenGlProp_QT(const char* name);
 #endif
 
-// OpenGL
-typedef void (CV_CDECL *CvOpenGlCleanCallback)(void* userdata);
-void icvSetOpenGlCleanCallback(const char* window_name, CvOpenGlCleanCallback callback, void* userdata);
 
 
 /*namespace cv

modules/highgui/src/window.cpp

@@ -40,6 +40,7 @@
 //M*/
 
 #include "precomp.hpp"
+#include <map>
 #include "opencv2/core/opengl_interop.hpp"
 
 // in later times, use this file as a dispatcher to implementations like cvcap.cpp
@@ -240,94 +241,15 @@ void cv::updateWindow(const string& windowName)
 #ifdef HAVE_OPENGL
 namespace
 {
-    const int CV_TEXTURE_MAGIC_VAL        = 0x00287653;
+    std::map<std::string, cv::GlTexture> wndTexs;
-    const int CV_POINT_CLOUD_MAGIC_VAL    = 0x00287654;
+    std::map<std::string, cv::GlTexture> ownWndTexs;
-
+    std::map<std::string, cv::GlBuffer> ownWndBufs;
-    struct GlObjBase
-    {
-        int flag;
-        GlObjBase* next;
-        GlObjBase* prev;
-        std::string winname;
-
-        virtual ~GlObjBase() {}
-    };
-
-    GlObjBase* g_glObjs = 0;
-
-    GlObjBase* findGlObjByName(const std::string& winname)
-    {
-        GlObjBase* obj = g_glObjs;
-
-        while(obj && obj->winname != winname)
-            obj = obj->next;
-
-        return obj;
-    }
-
-    void addGlObj(GlObjBase* glObj)
-    {
-        glObj->next = g_glObjs;
-        glObj->prev = 0;
-        if (g_glObjs)
-            g_glObjs->prev = glObj;
-        g_glObjs = glObj;
-    }
-
-    void removeGlObj(GlObjBase* glObj)
-    {
-        if (glObj->prev)
-            glObj->prev->next = glObj->next;
-        else
-            g_glObjs = glObj->next;
-
-        if (glObj->next)
-            glObj->next->prev = glObj->prev;
-
-        delete glObj;
-    }
-
-    struct GlObjTex : GlObjBase
-    {
-        cv::GlTexture tex;
-    };
 
     void CV_CDECL glDrawTextureCallback(void* userdata)
     {
-        GlObjTex* texObj = static_cast<GlObjTex*>(userdata);
+        cv::GlTexture* texObj = static_cast<cv::GlTexture*>(userdata);
 
-        CV_DbgAssert(texObj->flag == CV_TEXTURE_MAGIC_VAL);
+        cv::render(*texObj);
-
-        static cv::GlCamera glCamera;
-
-        glCamera.setupProjectionMatrix();
-
-        cv::render(texObj->tex);
-    }
-
-    struct GlObjPointCloud : GlObjBase
-    {
-        cv::GlArrays arr;
-        cv::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::render(pointCloudObj->arr);
-    }
-
-    void CV_CDECL glCleanCallback(void* userdata)
-    {
-        GlObjBase* glObj = static_cast<GlObjBase*>(userdata);
-
-        removeGlObj(glObj);
     }
 }
 #endif // HAVE_OPENGL
@@ -339,7 +261,8 @@ void cv::imshow( const string& winname, InputArray _img )
     CvMat c_img = img;
     cvShowImage(winname.c_str(), &c_img);
 #else
-    double useGl = getWindowProperty(winname, WND_PROP_OPENGL);
+    const double useGl = getWindowProperty(winname, WND_PROP_OPENGL);
+
     if (useGl <= 0)
     {
         Mat img = _img.getMat();
@@ -348,7 +271,7 @@ void cv::imshow( const string& winname, InputArray _img )
     }
     else
     {
-        double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
+        const double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
 
         if (autoSize > 0)
         {
@@ -358,145 +281,44 @@ void cv::imshow( const string& winname, InputArray _img )
 
         setOpenGlContext(winname);
 
-        GlObjBase* glObj = findGlObjByName(winname);
+        if (_img.kind() == _InputArray::OPENGL_TEXTURE)
-
-        if (glObj && glObj->flag != CV_TEXTURE_MAGIC_VAL)
         {
-            icvSetOpenGlCleanCallback(winname.c_str(), 0, 0);
+            cv::GlTexture& tex = wndTexs[winname];
-            glObj = 0;
-        }
 
-        if (glObj)
+            tex = _img.getGlTexture();
-        {
+
-            GlObjTex* texObj = static_cast<GlObjTex*>(glObj);
+            tex.setAutoRelease(false);
-            texObj->tex.copyFrom(_img);
+
+            setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);
         }
         else
         {
-            GlObjTex* texObj = new GlObjTex;
+            cv::GlTexture& tex = ownWndTexs[winname];
-            texObj->tex.copyFrom(_img);
 
-            glObj = texObj;
+            if (_img.kind() == _InputArray::GPU_MAT)
-            glObj->flag = CV_TEXTURE_MAGIC_VAL;
+            {
-            glObj->winname = winname;
+                cv::GlBuffer& buf = ownWndBufs[winname];
+                buf.copyFrom(_img);
+                buf.setAutoRelease(false);
 
-            addGlObj(glObj);
+                tex.copyFrom(buf);
+                tex.setAutoRelease(false);
+            }
+            else
+            {
+                tex.copyFrom(_img);
+            }
 
-            icvSetOpenGlCleanCallback(winname.c_str(), glCleanCallback, glObj);
+            tex.setAutoRelease(false);
+
+            setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);
         }
 
-        setOpenGlDrawCallback(winname, glDrawTextureCallback, glObj);
-
         updateWindow(winname);
     }
 #endif
 }
 
-void cv::pointCloudShow(const string& winname, const GlCamera& camera, const GlArrays& arr)
-{
-#ifndef HAVE_OPENGL
-    CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
-    (void)winname;
-    (void)camera;
-    (void)arr;
-#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
-}
-
-void cv::pointCloudShow(const std::string& winname, const cv::GlCamera& camera, InputArray points, InputArray colors)
-{
-#ifndef HAVE_OPENGL
-    (void)winname;
-    (void)camera;
-    (void)points;
-    (void)colors;
-    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.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
-}
-
 // Without OpenGL
 
 #ifndef HAVE_OPENGL
@@ -516,11 +338,6 @@ CV_IMPL void cvUpdateWindow(const char*)
     CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
 }
 
-void icvSetOpenGlCleanCallback(const char*, CvOpenGlCleanCallback, void*)
-{
-    CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
-}
-
 #endif // !HAVE_OPENGL
 
 #if defined (HAVE_QT)

modules/highgui/src/window_QT.cpp

@@ -685,20 +685,6 @@ CV_IMPL void cvSetOpenGlDrawCallback(const char* window_name, CvOpenGlDrawCallba
 }
 
 
-void icvSetOpenGlCleanCallback(const char* window_name, CvOpenGlCleanCallback callback, void* userdata)
-{
-    if (!guiMainThread)
-        CV_Error( CV_StsNullPtr, "NULL guiReceiver (please create a window)" );
-
-    QMetaObject::invokeMethod(guiMainThread,
-        "setOpenGlCleanCallback",
-        Qt::AutoConnection,
-        Q_ARG(QString, QString(window_name)),
-        Q_ARG(void*, (void*)callback),
-        Q_ARG(void*, userdata));
-}
-
-
 CV_IMPL void cvSetOpenGlContext(const char* window_name)
 {
     if (!guiMainThread)
@@ -1175,14 +1161,6 @@ void GuiReceiver::setOpenGlDrawCallback(QString name, void* callback, void* user
         w->setOpenGlDrawCallback((CvOpenGlDrawCallback) callback, userdata);
 }
 
-void GuiReceiver::setOpenGlCleanCallback(QString name, void* callback, void* userdata)
-{
-    QPointer<CvWindow> w = icvFindWindowByName(name);
-
-    if (w)
-        w->setOpenGlCleanCallback((CvOpenGlCleanCallback) callback, userdata);
-}
-
 void GuiReceiver::setOpenGlContext(QString name)
 {
     QPointer<CvWindow> w = icvFindWindowByName(name);
@@ -1828,12 +1806,6 @@ void CvWindow::setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void* userda
 }
 
 
-void CvWindow::setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata)
-{
-    myView->setOpenGlCleanCallback(callback, userdata);
-}
-
-
 void CvWindow::makeCurrentOpenGlContext()
 {
     myView->makeCurrentOpenGlContext();
@@ -2420,12 +2392,6 @@ void DefaultViewPort::setOpenGlDrawCallback(CvOpenGlDrawCallback /*callback*/, v
 }
 
 
-void DefaultViewPort::setOpenGlCleanCallback(CvOpenGlCleanCallback /*callback*/, void* /*userdata*/)
-{
-    CV_Error(CV_OpenGlNotSupported, "Window doesn't support OpenGL");
-}
-
-
 void DefaultViewPort::makeCurrentOpenGlContext()
 {
     CV_Error(CV_OpenGlNotSupported, "Window doesn't support OpenGL");
@@ -3074,19 +3040,10 @@ OpenGlViewPort::OpenGlViewPort(QWidget* _parent) : QGLWidget(_parent), size(-1,
 
     glDrawCallback = 0;
     glDrawData = 0;
-
-    glCleanCallback = 0;
-    glCleanData = 0;
-
-    glFuncTab = 0;
 }
 
 OpenGlViewPort::~OpenGlViewPort()
 {
-    if (glFuncTab)
-        delete glFuncTab;
-
-    setOpenGlCleanCallback(0, 0);
 }
 
 QWidget* OpenGlViewPort::getWidget()
@@ -3131,21 +3088,9 @@ void OpenGlViewPort::setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void*
     glDrawData = userdata;
 }
 
-void OpenGlViewPort::setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata)
-{
-    makeCurrentOpenGlContext();
-
-    if (glCleanCallback)
-        glCleanCallback(glCleanData);
-
-    glCleanCallback = callback;
-    glCleanData = userdata;
-}
-
 void OpenGlViewPort::makeCurrentOpenGlContext()
 {
     makeCurrent();
-    icvSetOpenGlFuncTab(glFuncTab);
 }
 
 void OpenGlViewPort::updateGl()
@@ -3153,255 +3098,9 @@ void OpenGlViewPort::updateGl()
     QGLWidget::updateGL();
 }
 
-#ifndef APIENTRY
-    #define APIENTRY
-#endif
-
-#ifndef APIENTRYP
-    #define APIENTRYP APIENTRY *
-#endif
-
-#ifndef GL_VERSION_1_5
-    /* GL types for handling large vertex buffer objects */
-    typedef ptrdiff_t GLintptr;
-    typedef ptrdiff_t GLsizeiptr;
-#endif
-
-typedef void (APIENTRYP PFNGLGENBUFFERSPROC   ) (GLsizei n, GLuint *buffers);
-typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers);
-
-typedef void (APIENTRYP PFNGLBUFFERDATAPROC   ) (GLenum target, GLsizeiptr size, const GLvoid *data, GLenum usage);
-typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const GLvoid* data);
-
-typedef void (APIENTRYP PFNGLBINDBUFFERPROC   ) (GLenum target, GLuint buffer);
-
-typedef GLvoid* (APIENTRYP PFNGLMAPBUFFERPROC) (GLenum target, GLenum access);
-typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERPROC) (GLenum target);
-
-class GlFuncTab_QT : public CvOpenGlFuncTab
-{
-public:
-#ifdef Q_WS_WIN
-    GlFuncTab_QT(HDC hDC);
-#else
-    GlFuncTab_QT();
-#endif
-
-    void genBuffers(int n, unsigned int* buffers) const;
-    void deleteBuffers(int n, const unsigned int* buffers) const;
-
-    void bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const;
-    void bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const;
-
-    void bindBuffer(unsigned int target, unsigned int buffer) const;
-
-    void* mapBuffer(unsigned int target, unsigned int access) const;
-    void unmapBuffer(unsigned int target) const;
-
-    void generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool underline, int start, int count, int base) const;
-
-    bool isGlContextInitialized() const;
-
-    PFNGLGENBUFFERSPROC    glGenBuffersExt;
-    PFNGLDELETEBUFFERSPROC glDeleteBuffersExt;
-
-    PFNGLBUFFERDATAPROC    glBufferDataExt;
-    PFNGLBUFFERSUBDATAPROC glBufferSubDataExt;
-
-    PFNGLBINDBUFFERPROC    glBindBufferExt;
-
-    PFNGLMAPBUFFERPROC     glMapBufferExt;
-    PFNGLUNMAPBUFFERPROC   glUnmapBufferExt;
-
-    bool initialized;
-
-#ifdef Q_WS_WIN
-    HDC hDC;
-#endif
-};
-
-#ifdef Q_WS_WIN
-    GlFuncTab_QT::GlFuncTab_QT(HDC hDC_) : hDC(hDC_)
-#else
-    GlFuncTab_QT::GlFuncTab_QT()
-#endif
-{
-    glGenBuffersExt    = 0;
-    glDeleteBuffersExt = 0;
-
-    glBufferDataExt    = 0;
-    glBufferSubDataExt = 0;
-
-    glBindBufferExt    = 0;
-
-    glMapBufferExt     = 0;
-    glUnmapBufferExt   = 0;
-
-    initialized = false;
-}
-
-void GlFuncTab_QT::genBuffers(int n, unsigned int* buffers) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::genBuffers" );
-
-    __BEGIN__;
-
-    if (!glGenBuffersExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glGenBuffersExt(n, buffers);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void GlFuncTab_QT::deleteBuffers(int n, const unsigned int* buffers) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::deleteBuffers" );
-
-    __BEGIN__;
-
-    if (!glDeleteBuffersExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glDeleteBuffersExt(n, buffers);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void GlFuncTab_QT::bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::bufferData" );
-
-    __BEGIN__;
-
-    if (!glBufferDataExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glBufferDataExt(target, size, data, usage);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void GlFuncTab_QT::bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::bufferSubData" );
-
-    __BEGIN__;
-
-    if (!glBufferSubDataExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glBufferSubDataExt(target, offset, size, data);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void GlFuncTab_QT::bindBuffer(unsigned int target, unsigned int buffer) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::bindBuffer" );
-
-    __BEGIN__;
-
-    if (!glBindBufferExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glBindBufferExt(target, buffer);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void* GlFuncTab_QT::mapBuffer(unsigned int target, unsigned int access) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::mapBuffer" );
-
-    void* res = 0;
-
-    __BEGIN__;
-
-    if (!glMapBufferExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    res = glMapBufferExt(target, access);
-    CV_CheckGlError();
-
-    __END__;
-
-    return res;
-}
-
-void GlFuncTab_QT::unmapBuffer(unsigned int target) const
-{
-    CV_FUNCNAME( "GlFuncTab_QT::unmapBuffer" );
-
-    __BEGIN__;
-
-    if (!glUnmapBufferExt)
-        CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-    glUnmapBufferExt(target);
-    CV_CheckGlError();
-
-    __END__;
-}
-
-void GlFuncTab_QT::generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool /*underline*/, int start, int count, int base) const
-{
-#ifdef Q_WS_WIN
-    CV_FUNCNAME( "GlFuncTab_QT::generateBitmapFont" );
-#endif
-
-    QFont font(QString(family.c_str()), height, weight, italic);
-
-    __BEGIN__;
-
-#ifndef Q_WS_WIN
-    font.setStyleStrategy(QFont::OpenGLCompatible);
-    if (font.handle())
-        glXUseXFont(font.handle(), start, count, base);
-#else
-    SelectObject(hDC, font.handle());
-    if (!wglUseFontBitmaps(hDC, start, count, base))
-        CV_ERROR(CV_OpenGlApiCallError, "Can't create font");
-#endif
-
-    __END__;
-}
-
-bool GlFuncTab_QT::isGlContextInitialized() const
-{
-    return initialized;
-}
-
 void OpenGlViewPort::initializeGL()
 {
     glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
-
-#ifdef Q_WS_WIN
-    std::auto_ptr<GlFuncTab_QT> qglFuncTab(new GlFuncTab_QT(getDC()));
-#else
-    std::auto_ptr<GlFuncTab_QT> qglFuncTab(new GlFuncTab_QT);
-#endif
-
-    // Load extensions
-
-    qglFuncTab->glGenBuffersExt = (PFNGLGENBUFFERSPROC)context()->getProcAddress("glGenBuffers");
-    qglFuncTab->glDeleteBuffersExt = (PFNGLDELETEBUFFERSPROC)context()->getProcAddress("glDeleteBuffers");
-    qglFuncTab->glBufferDataExt = (PFNGLBUFFERDATAPROC)context()->getProcAddress("glBufferData");
-    qglFuncTab->glBufferSubDataExt = (PFNGLBUFFERSUBDATAPROC)context()->getProcAddress("glBufferSubData");
-    qglFuncTab->glBindBufferExt = (PFNGLBINDBUFFERPROC)context()->getProcAddress("glBindBuffer");
-    qglFuncTab->glMapBufferExt = (PFNGLMAPBUFFERPROC)context()->getProcAddress("glMapBuffer");
-    qglFuncTab->glUnmapBufferExt = (PFNGLUNMAPBUFFERPROC)context()->getProcAddress("glUnmapBuffer");
-
-    qglFuncTab->initialized = true;
-
-    glFuncTab = qglFuncTab.release();
-
-    icvSetOpenGlFuncTab(glFuncTab);
 }
 
 void OpenGlViewPort::resizeGL(int w, int h)
@@ -3411,14 +3110,10 @@ void OpenGlViewPort::resizeGL(int w, int h)
 
 void OpenGlViewPort::paintGL()
 {
-    icvSetOpenGlFuncTab(glFuncTab);
-
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
     if (glDrawCallback)
         glDrawCallback(glDrawData);
-
-    CV_CheckGlError();
 }
 
 void OpenGlViewPort::mousePressEvent(QMouseEvent* evnt)

modules/highgui/src/window_QT.h

@@ -141,7 +141,6 @@ public slots:
     void enablePropertiesButtonEachWindow();
 
     void setOpenGlDrawCallback(QString name, void* callback, void* userdata);
-    void setOpenGlCleanCallback(QString name, void* callback, void* userdata);
     void setOpenGlContext(QString name);
     void updateWindow(QString name);
     double isOpenGl(QString name);
@@ -312,7 +311,6 @@ public:
     static void addSlider2(CvWindow* w, QString name, int* value, int count, CvTrackbarCallback2 on_change CV_DEFAULT(NULL), void* userdata CV_DEFAULT(0));
 
     void setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void* userdata);
-    void setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata);
     void makeCurrentOpenGlContext();
     void updateGl();
     bool isOpenGl();
@@ -397,7 +395,6 @@ public:
     virtual void startDisplayInfo(QString text, int delayms) = 0;
 
     virtual void setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void* userdata) = 0;
-    virtual void setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata) = 0;
     virtual void makeCurrentOpenGlContext() = 0;
     virtual void updateGl() = 0;
 
@@ -429,7 +426,6 @@ public:
     void startDisplayInfo(QString text, int delayms);
 
     void setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void* userdata);
-    void setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata);
     void makeCurrentOpenGlContext();
     void updateGl();
 
@@ -456,11 +452,6 @@ private:
     CvOpenGlDrawCallback glDrawCallback;
     void* glDrawData;
 
-    CvOpenGlCleanCallback glCleanCallback;
-    void* glCleanData;
-
-    CvOpenGlFuncTab* glFuncTab;
-
     void icvmouseHandler(QMouseEvent* event, type_mouse_event category, int& cv_event, int& flags);
     void icvmouseProcessing(QPointF pt, int cv_event, int flags);
 };
@@ -491,7 +482,6 @@ public:
     void startDisplayInfo(QString text, int delayms);
 
     void setOpenGlDrawCallback(CvOpenGlDrawCallback callback, void* userdata);
-    void setOpenGlCleanCallback(CvOpenGlCleanCallback callback, void* userdata);
     void makeCurrentOpenGlContext();
     void updateGl();
 

modules/highgui/src/window_gtk.cpp

@@ -417,9 +417,6 @@ typedef struct CvWindow
 
     CvOpenGlDrawCallback glDrawCallback;
     void* glDrawData;
-
-    CvOpenGlCleanCallback glCleanCallback;
-    void* glCleanData;
 #endif
 }
 CvWindow;
@@ -692,238 +689,6 @@ double cvGetOpenGlProp_GTK(const char* name)
 
 namespace
 {
-    class GlFuncTab_GTK : public CvOpenGlFuncTab
-    {
-    public:
-        GlFuncTab_GTK();
-
-        void genBuffers(int n, unsigned int* buffers) const;
-        void deleteBuffers(int n, const unsigned int* buffers) const;
-
-        void bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const;
-        void bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const;
-
-        void bindBuffer(unsigned int target, unsigned int buffer) const;
-
-        void* mapBuffer(unsigned int target, unsigned int access) const;
-        void unmapBuffer(unsigned int target) const;
-
-        void generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool underline, int start, int count, int base) const;
-
-        bool isGlContextInitialized() const;
-
-        PFNGLGENBUFFERSPROC    glGenBuffersExt;
-        PFNGLDELETEBUFFERSPROC glDeleteBuffersExt;
-
-        PFNGLBUFFERDATAPROC    glBufferDataExt;
-        PFNGLBUFFERSUBDATAPROC glBufferSubDataExt;
-
-        PFNGLBINDBUFFERPROC    glBindBufferExt;
-
-        PFNGLMAPBUFFERPROC     glMapBufferExt;
-        PFNGLUNMAPBUFFERPROC   glUnmapBufferExt;
-
-        bool initialized;
-    };
-
-    GlFuncTab_GTK::GlFuncTab_GTK()
-    {
-        glGenBuffersExt    = 0;
-        glDeleteBuffersExt = 0;
-
-        glBufferDataExt    = 0;
-        glBufferSubDataExt = 0;
-
-        glBindBufferExt    = 0;
-
-        glMapBufferExt     = 0;
-        glUnmapBufferExt   = 0;
-
-        initialized = false;
-    }
-
-    void GlFuncTab_GTK::genBuffers(int n, unsigned int* buffers) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::genBuffers" );
-
-        __BEGIN__;
-
-        if (!glGenBuffersExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glGenBuffersExt(n, buffers);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_GTK::deleteBuffers(int n, const unsigned int* buffers) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::deleteBuffers" );
-
-        __BEGIN__;
-
-        if (!glDeleteBuffersExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glDeleteBuffersExt(n, buffers);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_GTK::bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::bufferData" );
-
-        __BEGIN__;
-
-        if (!glBufferDataExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBufferDataExt(target, size, data, usage);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_GTK::bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::bufferSubData" );
-
-        __BEGIN__;
-
-        if (!glBufferSubDataExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBufferSubDataExt(target, offset, size, data);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_GTK::bindBuffer(unsigned int target, unsigned int buffer) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::bindBuffer" );
-
-        __BEGIN__;
-
-        if (!glBindBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBindBufferExt(target, buffer);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void* GlFuncTab_GTK::mapBuffer(unsigned int target, unsigned int access) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::mapBuffer" );
-
-        void* res = 0;
-
-        __BEGIN__;
-
-        if (!glMapBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        res = glMapBufferExt(target, access);
-        CV_CheckGlError();
-
-        __END__;
-
-        return res;
-    }
-
-    void GlFuncTab_GTK::unmapBuffer(unsigned int target) const
-    {
-        CV_FUNCNAME( "GlFuncTab_GTK::unmapBuffer" );
-
-        __BEGIN__;
-
-        if (!glUnmapBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glUnmapBufferExt(target);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_GTK::generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool /*underline*/, int start, int count, int base) const
-    {
-        PangoFontDescription* fontDecr;
-        PangoFont* pangoFont;
-
-        CV_FUNCNAME( "GlFuncTab_GTK::generateBitmapFont" );
-
-        __BEGIN__;
-
-        fontDecr = pango_font_description_new();
-
-        pango_font_description_set_size(fontDecr, height);
-
-        pango_font_description_set_family_static(fontDecr, family.c_str());
-
-        pango_font_description_set_weight(fontDecr, static_cast<PangoWeight>(weight));
-
-        pango_font_description_set_style(fontDecr, italic ? PANGO_STYLE_ITALIC : PANGO_STYLE_NORMAL);
-
-        pangoFont = gdk_gl_font_use_pango_font(fontDecr, start, count, base);
-
-        pango_font_description_free(fontDecr);
-
-        if (!pangoFont)
-            CV_ERROR(CV_OpenGlApiCallError, "Can't create font");
-
-        __END__;
-    }
-
-    bool GlFuncTab_GTK::isGlContextInitialized() const
-    {
-        return initialized;
-    }
-
-    void initGl()
-    {
-        static GlFuncTab_GTK glFuncTab;
-        static bool first = true;
-
-        if (first)
-        {
-            // Load extensions
-            GdkGLProc func;
-
-            func = gdk_gl_get_proc_address("glGenBuffers");
-            glFuncTab.glGenBuffersExt = (PFNGLGENBUFFERSPROC)func;
-
-            func = gdk_gl_get_proc_address("glDeleteBuffers");
-            glFuncTab.glDeleteBuffersExt = (PFNGLDELETEBUFFERSPROC)func;
-
-            func = gdk_gl_get_proc_address("glBufferData");
-            glFuncTab.glBufferDataExt = (PFNGLBUFFERDATAPROC)func;
-
-            func = gdk_gl_get_proc_address("glBufferSubData");
-            glFuncTab.glBufferSubDataExt = (PFNGLBUFFERSUBDATAPROC)func;
-
-            func = gdk_gl_get_proc_address("glBindBuffer");
-            glFuncTab.glBindBufferExt = (PFNGLBINDBUFFERPROC)func;
-
-            func = gdk_gl_get_proc_address("glMapBuffer");
-            glFuncTab.glMapBufferExt = (PFNGLMAPBUFFERPROC)func;
-
-            func = gdk_gl_get_proc_address("glUnmapBuffer");
-            glFuncTab.glUnmapBufferExt = (PFNGLUNMAPBUFFERPROC)func;
-
-            glFuncTab.initialized = true;
-
-            icvSetOpenGlFuncTab(&glFuncTab);
-
-            first = false;
-        }
-    }
-
     void createGlContext(CvWindow* window)
     {
         GdkGLConfig* glconfig;
@@ -932,8 +697,6 @@ namespace
 
         __BEGIN__;
 
-        window->useGl = false;
-
         // Try double-buffered visual
         glconfig = gdk_gl_config_new_by_mode((GdkGLConfigMode)(GDK_GL_MODE_RGB | GDK_GL_MODE_DEPTH | GDK_GL_MODE_DOUBLE));
         if (!glconfig)
@@ -943,24 +706,11 @@ namespace
         if (!gtk_widget_set_gl_capability(window->widget, glconfig, NULL, TRUE, GDK_GL_RGBA_TYPE))
             CV_ERROR( CV_OpenGlApiCallError, "Can't Create A GL Device Context" );
 
-        initGl();
-
         window->useGl = true;
 
         __END__;
     }
 
-    void releaseGlContext(CvWindow* window)
-    {
-        //CV_FUNCNAME( "releaseGlContext" );
-
-        //__BEGIN__;
-
-        window->useGl = false;
-
-        //__END__;
-    }
-
     void drawGl(CvWindow* window)
     {
         CV_FUNCNAME( "drawGl" );
@@ -980,8 +730,6 @@ namespace
         if (window->glDrawCallback)
             window->glDrawCallback(window->glDrawData);
 
-        CV_CheckGlError();
-
         if (gdk_gl_drawable_is_double_buffered (gldrawable))
             gdk_gl_drawable_swap_buffers(gldrawable);
         else
@@ -1101,9 +849,6 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
 
     window->glDrawCallback = 0;
     window->glDrawData = 0;
-
-    window->glCleanCallback = 0;
-    window->glCleanData = 0;
 #endif
 
     //
@@ -1233,40 +978,6 @@ CV_IMPL void cvSetOpenGlDrawCallback(const char* name, CvOpenGlDrawCallback call
     __END__;
 }
 
-void icvSetOpenGlCleanCallback(const char* name, CvOpenGlCleanCallback callback, void* userdata)
-{
-    CvWindow* window;
-    GdkGLContext* glcontext;
-    GdkGLDrawable* gldrawable;
-
-    CV_FUNCNAME( "icvSetOpenGlCleanCallback" );
-
-    __BEGIN__;
-
-    if (!name)
-        CV_ERROR(CV_StsNullPtr, "NULL name string");
-
-    window = icvFindWindowByName(name);
-    if (!window)
-        EXIT;
-
-    if (!window->useGl)
-        CV_ERROR( CV_OpenGlNotSupported, "Window doesn't support OpenGL" );
-
-    glcontext = gtk_widget_get_gl_context(window->widget);
-    gldrawable = gtk_widget_get_gl_drawable(window->widget);
-
-    gdk_gl_drawable_make_current(gldrawable, glcontext);
-
-    if (window->glCleanCallback)
-        window->glCleanCallback(window->glCleanData);
-
-    window->glCleanCallback = callback;
-    window->glCleanData = userdata;
-
-    __END__;
-}
-
 #endif // HAVE_OPENGL
 
 
@@ -1276,25 +987,6 @@ static void icvDeleteWindow( CvWindow* window )
 {
     CvTrackbar* trackbar;
 
-#ifdef HAVE_OPENGL
-    if (window->useGl)
-    {
-        GdkGLContext* glcontext = gtk_widget_get_gl_context(window->widget);
-        GdkGLDrawable* gldrawable = gtk_widget_get_gl_drawable(window->widget);
-
-        gdk_gl_drawable_make_current(gldrawable, glcontext);
-
-        if (window->glCleanCallback)
-        {
-            window->glCleanCallback(window->glCleanData);
-            window->glCleanCallback = 0;
-            window->glCleanData = 0;
-        }
-
-        releaseGlContext(window);
-    }
-#endif
-
     if( window->prev )
         window->prev->next = window->next;
     else

modules/highgui/src/window_w32.cpp

@@ -192,11 +192,6 @@ typedef struct CvWindow
 
     CvOpenGlDrawCallback glDrawCallback;
     void* glDrawData;
-
-    CvOpenGlCleanCallback glCleanCallback;
-    void* glCleanData;
-
-    CvOpenGlFuncTab* glFuncTab;
 #endif
 }
 CvWindow;
@@ -580,272 +575,8 @@ double cvGetOpenGlProp_W32(const char* name)
 
 #ifdef HAVE_OPENGL
 
-#ifndef APIENTRY
-    #define APIENTRY
-#endif
-
-#ifndef APIENTRYP
-    #define APIENTRYP APIENTRY *
-#endif
-
-#ifndef GL_VERSION_1_5
-    /* GL types for handling large vertex buffer objects */
-    typedef ptrdiff_t GLintptr;
-    typedef ptrdiff_t GLsizeiptr;
-#endif
-
 namespace
 {
-    typedef void (APIENTRYP PFNGLGENBUFFERSPROC   ) (GLsizei n, GLuint *buffers);
-    typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint *buffers);
-
-    typedef void (APIENTRYP PFNGLBUFFERDATAPROC   ) (GLenum target, GLsizeiptr size, const GLvoid *data, GLenum usage);
-    typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const GLvoid* data);
-
-    typedef void (APIENTRYP PFNGLBINDBUFFERPROC   ) (GLenum target, GLuint buffer);
-
-    typedef GLvoid* (APIENTRYP PFNGLMAPBUFFERPROC) (GLenum target, GLenum access);
-    typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERPROC) (GLenum target);
-
-    class GlFuncTab_W32 : public CvOpenGlFuncTab
-    {
-    public:
-        GlFuncTab_W32(HDC hDC);
-
-        void genBuffers(int n, unsigned int* buffers) const;
-        void deleteBuffers(int n, const unsigned int* buffers) const;
-
-        void bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const;
-        void bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const;
-
-        void bindBuffer(unsigned int target, unsigned int buffer) const;
-
-        void* mapBuffer(unsigned int target, unsigned int access) const;
-        void unmapBuffer(unsigned int target) const;
-
-        void generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool underline, int start, int count, int base) const;
-
-        bool isGlContextInitialized() const;
-
-        PFNGLGENBUFFERSPROC    glGenBuffersExt;
-        PFNGLDELETEBUFFERSPROC glDeleteBuffersExt;
-
-        PFNGLBUFFERDATAPROC    glBufferDataExt;
-        PFNGLBUFFERSUBDATAPROC glBufferSubDataExt;
-
-        PFNGLBINDBUFFERPROC    glBindBufferExt;
-
-        PFNGLMAPBUFFERPROC     glMapBufferExt;
-        PFNGLUNMAPBUFFERPROC   glUnmapBufferExt;
-
-        bool initialized;
-
-        HDC hDC;
-    };
-
-    GlFuncTab_W32::GlFuncTab_W32(HDC hDC_)
-    {
-        glGenBuffersExt    = 0;
-        glDeleteBuffersExt = 0;
-
-        glBufferDataExt    = 0;
-        glBufferSubDataExt = 0;
-
-        glBindBufferExt    = 0;
-
-        glMapBufferExt     = 0;
-        glUnmapBufferExt   = 0;
-
-        initialized = false;
-
-        hDC = hDC_;
-    }
-
-    void GlFuncTab_W32::genBuffers(int n, unsigned int* buffers) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::genBuffers" );
-
-        __BEGIN__;
-
-        if (!glGenBuffersExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glGenBuffersExt(n, buffers);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_W32::deleteBuffers(int n, const unsigned int* buffers) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::deleteBuffers" );
-
-        __BEGIN__;
-
-        if (!glDeleteBuffersExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glDeleteBuffersExt(n, buffers);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_W32::bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::bufferData" );
-
-        __BEGIN__;
-
-        if (!glBufferDataExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBufferDataExt(target, size, data, usage);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_W32::bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::bufferSubData" );
-
-        __BEGIN__;
-
-        if (!glBufferSubDataExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBufferSubDataExt(target, offset, size, data);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_W32::bindBuffer(unsigned int target, unsigned int buffer) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::bindBuffer" );
-
-        __BEGIN__;
-
-        if (!glBindBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glBindBufferExt(target, buffer);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void* GlFuncTab_W32::mapBuffer(unsigned int target, unsigned int access) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::mapBuffer" );
-
-        void* res = 0;
-
-        __BEGIN__;
-
-        if (!glMapBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        res = glMapBufferExt(target, access);
-        CV_CheckGlError();
-
-        __END__;
-
-        return res;
-    }
-
-    void GlFuncTab_W32::unmapBuffer(unsigned int target) const
-    {
-        CV_FUNCNAME( "GlFuncTab_W32::unmapBuffer" );
-
-        __BEGIN__;
-
-        if (!glUnmapBufferExt)
-            CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
-
-        glUnmapBufferExt(target);
-        CV_CheckGlError();
-
-        __END__;
-    }
-
-    void GlFuncTab_W32::generateBitmapFont(const std::string& family, int height, int weight, bool italic, bool underline, int start, int count, int base) const
-    {
-        HFONT font;
-
-        CV_FUNCNAME( "GlFuncTab_W32::generateBitmapFont" );
-
-        __BEGIN__;
-
-        font = CreateFont
-        (
-            -height,                     // height
-            0,                           // cell width
-            0,                           // Angle of Escapement
-            0,                           // Orientation Angle
-            weight,                      // font weight
-            italic ? TRUE : FALSE,       // Italic
-            underline ? TRUE : FALSE,    // Underline
-            FALSE,                       // StrikeOut
-            ANSI_CHARSET,                // CharSet
-            OUT_TT_PRECIS,               // OutPrecision
-            CLIP_DEFAULT_PRECIS,         // ClipPrecision
-            ANTIALIASED_QUALITY,         // Quality
-            FF_DONTCARE | DEFAULT_PITCH, // PitchAndFamily
-            family.c_str()               // FaceName
-        );
-
-        SelectObject(hDC, font);
-
-        if (!wglUseFontBitmaps(hDC, start, count, base))
-            CV_ERROR(CV_OpenGlApiCallError, "Can't create font");
-
-        __END__;
-    }
-
-    bool GlFuncTab_W32::isGlContextInitialized() const
-    {
-        return initialized;
-    }
-
-    void initGl(CvWindow* window)
-    {
-        glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
-
-        std::auto_ptr<GlFuncTab_W32> glFuncTab(new GlFuncTab_W32(window->dc));
-
-        // Load extensions
-        PROC func;
-
-        func = wglGetProcAddress("glGenBuffers");
-        glFuncTab->glGenBuffersExt = (PFNGLGENBUFFERSPROC)func;
-
-        func = wglGetProcAddress("glDeleteBuffers");
-        glFuncTab->glDeleteBuffersExt = (PFNGLDELETEBUFFERSPROC)func;
-
-        func = wglGetProcAddress("glBufferData");
-        glFuncTab->glBufferDataExt = (PFNGLBUFFERDATAPROC)func;
-
-        func = wglGetProcAddress("glBufferSubData");
-        glFuncTab->glBufferSubDataExt = (PFNGLBUFFERSUBDATAPROC)func;
-
-        func = wglGetProcAddress("glBindBuffer");
-        glFuncTab->glBindBufferExt = (PFNGLBINDBUFFERPROC)func;
-
-        func = wglGetProcAddress("glMapBuffer");
-        glFuncTab->glMapBufferExt = (PFNGLMAPBUFFERPROC)func;
-
-        func = wglGetProcAddress("glUnmapBuffer");
-        glFuncTab->glUnmapBufferExt = (PFNGLUNMAPBUFFERPROC)func;
-
-        glFuncTab->initialized = true;
-
-        window->glFuncTab = glFuncTab.release();
-
-        icvSetOpenGlFuncTab(window->glFuncTab);
-    }
-
     void createGlContext(HWND hWnd, HDC& hGLDC, HGLRC& hGLRC, bool& useGl)
     {
         CV_FUNCNAME( "createGlContext" );
@@ -907,8 +638,6 @@ namespace
 
         __BEGIN__;
 
-        delete window->glFuncTab;
-
         if (window->hGLRC)
         {
             wglDeleteContext(window->hGLRC);
@@ -940,8 +669,6 @@ namespace
         if (window->glDrawCallback)
             window->glDrawCallback(window->glDrawData);
 
-        CV_CheckGlError();
-
         if (!SwapBuffers(window->dc))
             CV_ERROR( CV_OpenGlApiCallError, "Can't swap OpenGL buffers" );
 
@@ -1042,7 +769,6 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
 #ifndef HAVE_OPENGL
     window->dc = CreateCompatibleDC(0);
 #else
-    window->glFuncTab = 0;
     if (!useGl)
     {
         window->dc = CreateCompatibleDC(0);
@@ -1054,14 +780,10 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
         window->dc = hGLDC;
         window->hGLRC = hGLRC;
         window->useGl = true;
-        initGl(window);
     }
 
     window->glDrawCallback = 0;
     window->glDrawData = 0;
-
-    window->glCleanCallback = 0;
-    window->glCleanData = 0;
 #endif
 
     window->last_key = 0;
@@ -1112,8 +834,6 @@ CV_IMPL void cvSetOpenGlContext(const char* name)
     if (!wglMakeCurrent(window->dc, window->hGLRC))
         CV_ERROR( CV_OpenGlApiCallError, "Can't Activate The GL Rendering Context" );
 
-    icvSetOpenGlFuncTab(window->glFuncTab);
-
     __END__;
 }
 
@@ -1161,30 +881,6 @@ CV_IMPL void cvSetOpenGlDrawCallback(const char* name, CvOpenGlDrawCallback call
     __END__;
 }
 
-void icvSetOpenGlCleanCallback(const char* name, CvOpenGlCleanCallback callback, void* userdata)
-{
-    CV_FUNCNAME( "icvSetOpenGlCleanCallback" );
-
-    __BEGIN__;
-
-    CvWindow* window;
-
-    if (!name)
-        CV_ERROR(CV_StsNullPtr, "NULL name string");
-
-    window = icvFindWindowByName(name);
-    if (!window)
-        EXIT;
-
-    if (window->glCleanCallback)
-        window->glCleanCallback(window->glCleanData);
-
-    window->glCleanCallback = callback;
-    window->glCleanData = userdata;
-
-    __END__;
-}
-
 #endif // HAVE_OPENGL
 
 static void icvRemoveWindow( CvWindow* window )
@@ -1194,18 +890,7 @@ static void icvRemoveWindow( CvWindow* window )
 
 #ifdef HAVE_OPENGL
     if (window->useGl)
-    {
-        wglMakeCurrent(window->dc, window->hGLRC);
-
-        if (window->glCleanCallback)
-        {
-            window->glCleanCallback(window->glCleanData);
-            window->glCleanCallback = 0;
-            window->glCleanData = 0;
-        }
-
         releaseGlContext(window);
-    }
 #endif
 
     if( window->frame )

samples/cpp/point_cloud.cpp

@@ -1,353 +0,0 @@
-#include <cctype>
-#include <cstring>
-#include <cmath>
-#include <iostream>
-#include <sstream>
-
-#include "opencv2/core/core.hpp"
-#include "opencv2/core/opengl_interop.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/imgproc/imgproc.hpp"
-#include "opencv2/calib3d/calib3d.hpp"
-#include "opencv2/contrib/contrib.hpp"
-
-using namespace std;
-using namespace cv;
-using namespace cv::gpu;
-
-class PointCloudRenderer
-{
-public:
-    PointCloudRenderer(const Mat& points, const Mat& img, double scale);
-
-    void onMouseEvent(int event, int x, int y, int flags);
-    void draw();
-    void update(int key, double aspect);
-
-    int fov_;
-
-private:
-    int mouse_dx_;
-    int mouse_dy_;
-
-    double yaw_;
-    double pitch_;
-    Point3d pos_;
-
-    TickMeter tm_;
-    static const int step_;
-    int frame_;
-
-    GlCamera camera_;
-    GlArrays pointCloud_;
-    string fps_;
-};
-
-bool stop = false;
-
-static void mouseCallback(int event, int x, int y, int flags, void* userdata)
-{
-    if (stop)
-        return;
-
-    PointCloudRenderer* renderer = static_cast<PointCloudRenderer*>(userdata);
-    renderer->onMouseEvent(event, x, y, flags);
-}
-
-static void openGlDrawCallback(void* userdata)
-{
-    if (stop)
-        return;
-
-    PointCloudRenderer* renderer = static_cast<PointCloudRenderer*>(userdata);
-    renderer->draw();
-}
-
-int main(int argc, const char* argv[])
-{
-    const char* keys =
-       "{ l | left      |       | left image file name }"
-       "{ r | right     |       | right image file name }"
-       "{ i | intrinsic |       | intrinsic camera parameters file name }"
-       "{ e | extrinsic |       | extrinsic camera parameters file name }"
-       "{ d | ndisp     | 256   | number of disparities }"
-       "{ s | scale     | 1.0   | scale factor for point cloud }"
-       "{ h | help      | false | print help message }";
-
-    CommandLineParser cmd(argc, argv, keys);
-
-    if (cmd.get<bool>("help"))
-    {
-        cout << "Avaible options:" << endl;
-        cmd.printParams();
-        return 0;
-    }
-
-    string left = cmd.get<string>("left");
-    string right = cmd.get<string>("right");
-    string intrinsic = cmd.get<string>("intrinsic");
-    string extrinsic = cmd.get<string>("extrinsic");
-    int ndisp = cmd.get<int>("ndisp");
-    double scale = cmd.get<double>("scale");
-
-    if (left.empty() || right.empty())
-    {
-        cout << "Missed input images" << endl;
-        cout << "Avaible options:" << endl;
-        cmd.printParams();
-        return 0;
-    }
-
-    if (intrinsic.empty() ^ extrinsic.empty())
-    {
-        cout << "Boss camera parameters must be specified" << endl;
-        cout << "Avaible options:" << endl;
-        cmd.printParams();
-        return 0;
-    }
-
-    Mat imgLeftColor = imread(left, IMREAD_COLOR);
-    Mat imgRightColor = imread(right, IMREAD_COLOR);
-
-    if (imgLeftColor.empty())
-    {
-        cout << "Can't load image " << left << endl;
-        return -1;
-    }
-
-    if (imgRightColor.empty())
-    {
-        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())
-        {
-            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())
-        {
-            cout << "Failed to open file " << extrinsic << endl;
-            return -1;
-        }
-
-        Mat R, T, R1, P1, R2, P2;
-        fs["R"] >> R;
-        fs["T"] >> T;
-
-        Size img_size = imgLeftColor.size();
-
-        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);
-    }
-
-    Mat imgLeftGray, imgRightGray;
-    cvtColor(imgLeftColor, imgLeftGray, COLOR_BGR2GRAY);
-    cvtColor(imgRightColor, imgRightGray, COLOR_BGR2GRAY);
-
-    cvtColor(imgLeftColor, imgLeftColor, COLOR_BGR2RGB);
-
-    Mat disp, points;
-
-    StereoBM bm(0, ndisp);
-
-    bm(imgLeftGray, imgRightGray, disp);
-    disp.convertTo(disp, CV_8U, 1.0 / 16.0);
-
-    disp = disp(Range(21, disp.rows - 21), Range(ndisp, disp.cols - 21)).clone();
-    imgLeftColor = imgLeftColor(Range(21, imgLeftColor.rows - 21), Range(ndisp, imgLeftColor.cols - 21)).clone();
-
-    reprojectImageTo3D(disp, points, Q);
-
-    const string windowName = "OpenGL Sample";
-
-    namedWindow(windowName, WINDOW_OPENGL);
-    resizeWindow(windowName, 400, 400);
-
-    PointCloudRenderer renderer(points, imgLeftColor, scale);
-
-    createTrackbar("Fov", windowName, &renderer.fov_, 100);
-    setMouseCallback(windowName, mouseCallback, &renderer);
-    setOpenGlDrawCallback(windowName, openGlDrawCallback, &renderer);
-
-    for(;;)
-    {
-        int key = waitKey(10);
-
-        if (key >= 0)
-            key = key & 0xff;
-
-        if (key == 27)
-        {
-            stop = true;
-            break;
-        }
-
-        double aspect = getWindowProperty(windowName, WND_PROP_ASPECT_RATIO);
-
-        key = tolower(key);
-
-        renderer.update(key, aspect);
-
-        updateWindow(windowName);
-    }
-
-    return 0;
-}
-
-const int PointCloudRenderer::step_ = 20;
-
-PointCloudRenderer::PointCloudRenderer(const Mat& points, const Mat& img, double scale)
-{
-    mouse_dx_ = 0;
-    mouse_dy_ = 0;
-
-    fov_ = 0;
-    yaw_ = 0.0;
-    pitch_ = 0.0;
-
-    frame_ = 0;
-
-    camera_.setScale(Point3d(scale, scale, scale));
-
-    pointCloud_.setVertexArray(points);
-    pointCloud_.setColorArray(img, false);
-
-    tm_.start();
-}
-
-inline int clamp(int val, int minVal, int maxVal)
-{
-    return max(min(val, maxVal), minVal);
-}
-
-void PointCloudRenderer::onMouseEvent(int event, int x, int y, int /*flags*/)
-{
-    static int oldx = x;
-    static int oldy = y;
-    static bool moving = false;
-
-    if (event == EVENT_LBUTTONDOWN)
-    {
-        oldx = x;
-        oldy = y;
-        moving = true;
-    }
-    else if (event == EVENT_LBUTTONUP)
-    {
-        moving = false;
-    }
-
-    if (moving)
-    {
-        mouse_dx_ = oldx - x;
-        mouse_dy_ = oldy - y;
-    }
-    else
-    {
-        mouse_dx_ = 0;
-        mouse_dy_ = 0;
-    }
-
-    const int mouseClamp = 300;
-    mouse_dx_ = clamp(mouse_dx_, -mouseClamp, mouseClamp);
-    mouse_dy_ = clamp(mouse_dy_, -mouseClamp, mouseClamp);
-}
-
-static Point3d rotate(Point3d v, double yaw, double pitch)
-{
-    Point3d t1;
-    t1.x = v.x * cos(-yaw / 180.0 * CV_PI) - v.z * sin(-yaw / 180.0 * CV_PI);
-    t1.y = v.y;
-    t1.z = v.x * sin(-yaw / 180.0 * CV_PI) + v.z * cos(-yaw / 180.0 * CV_PI);
-
-    Point3d t2;
-    t2.x = t1.x;
-    t2.y = t1.y * cos(pitch / 180.0 * CV_PI) - t1.z * sin(pitch / 180.0 * CV_PI);
-    t2.z = t1.y * sin(pitch / 180.0 * CV_PI) + t1.z * cos(pitch / 180.0 * CV_PI);
-
-    return t2;
-}
-
-void PointCloudRenderer::update(int key, double aspect)
-{
-    const Point3d dirVec(0.0, 0.0, -1.0);
-    const Point3d upVec(0.0, 1.0, 0.0);
-    const Point3d leftVec(-1.0, 0.0, 0.0);
-
-    const double posStep = 0.1;
-
-    const double mouseStep = 0.001;
-
-    camera_.setPerspectiveProjection(30.0 + fov_ / 100.0 * 40.0, aspect, 0.1, 1000.0);
-
-    yaw_ += mouse_dx_ * mouseStep;
-    pitch_ += mouse_dy_ * mouseStep;
-
-    if (key == 'w')
-        pos_ += posStep * rotate(dirVec, yaw_, pitch_);
-    else if (key == 's')
-        pos_ -= posStep * rotate(dirVec, yaw_, pitch_);
-    else if (key == 'a')
-        pos_ += posStep * rotate(leftVec, yaw_, pitch_);
-    else if (key == 'd')
-        pos_ -= posStep * rotate(leftVec, yaw_, pitch_);
-    else if (key == 'q')
-        pos_ += posStep * rotate(upVec, yaw_, pitch_);
-    else if (key == 'e')
-        pos_ -= posStep * rotate(upVec, yaw_, pitch_);
-
-    camera_.setCameraPos(pos_, yaw_, pitch_, 0.0);
-
-    tm_.stop();
-
-    if (frame_++ >= step_)
-    {
-        ostringstream ostr;
-        ostr << "FPS: " << step_ / tm_.getTimeSec();
-        fps_ = ostr.str();
-
-        frame_ = 0;
-        tm_.reset();
-    }
-
-    tm_.start();
-}
-
-void PointCloudRenderer::draw()
-{
-    camera_.setupProjectionMatrix();
-    camera_.setupModelViewMatrix();
-
-    render(pointCloud_);
-
-    render(fps_, GlFont::get("Courier New", 16), Scalar::all(255), Point2d(3.0, 0.0));
-}

samples/gpu/brox_optical_flow.cpp

@@ -4,7 +4,6 @@
 
 #include "cvconfig.h"
 #include "opencv2/core/core.hpp"
-#include "opencv2/core/opengl_interop.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/gpu/gpu.hpp"
 
@@ -14,12 +13,6 @@ using namespace cv::gpu;
 
 void getFlowField(const Mat& u, const Mat& v, Mat& flowField);
 
-#ifdef HAVE_OPENGL
-
-void needleMapDraw(void* userdata);
-
-#endif
-
 int main(int argc, const char* argv[])
 {
     try
@@ -80,12 +73,8 @@ int main(int argc, const char* argv[])
         namedWindow("Forward flow");
         namedWindow("Backward flow");
 
-        namedWindow("Needle Map", WINDOW_OPENGL);
-
         namedWindow("Interpolated frame");
 
-        setGlDevice();
-
         cout << "Press:" << endl;
         cout << "\tESC to quit" << endl;
         cout << "\t'a' to move to the previous frame" << endl;
@@ -124,14 +113,6 @@ int main(int argc, const char* argv[])
         Mat flowFieldBackward;
         getFlowField(Mat(d_bu), Mat(d_bv), flowFieldBackward);
 
-#ifdef HAVE_OPENGL
-        cout << "Create Optical Flow Needle Map..." << endl;
-
-        GpuMat d_vertex, d_colors;
-
-        createOpticalFlowNeedleMap(d_fu, d_fv, d_vertex, d_colors);
-#endif
-
         cout << "Interpolating..." << endl;
 
         // first frame color components
@@ -196,14 +177,6 @@ int main(int argc, const char* argv[])
         imshow("Forward flow", flowFieldForward);
         imshow("Backward flow", flowFieldBackward);
 
-#ifdef HAVE_OPENGL
-        GlArrays arr;
-        arr.setVertexArray(d_vertex);
-        arr.setColorArray(d_colors, false);
-
-        setOpenGlDrawCallback("Needle Map", needleMapDraw, &arr);
-#endif
-
         int currentFrame = 0;
 
         imshow("Interpolated frame", frames[currentFrame]);
@@ -292,22 +265,4 @@ void getFlowField(const Mat& u, const Mat& v, Mat& flowField)
             row[j][3] = 255;
         }
     }
-}
+}
-
-#ifdef HAVE_OPENGL
-
-void needleMapDraw(void* userdata)
-{
-    const GlArrays* arr = static_cast<const GlArrays*>(userdata);
-
-    GlCamera camera;
-    camera.setOrthoProjection(0.0, 1.0, 1.0, 0.0, 0.0, 1.0);
-    camera.lookAt(Point3d(0.0, 0.0, 1.0), Point3d(0.0, 0.0, 0.0), Point3d(0.0, 1.0, 0.0));
-
-    camera.setupProjectionMatrix();
-    camera.setupModelViewMatrix();
-
-    render(*arr, RenderMode::TRIANGLES);
-}
-
-#endif

samples/gpu/highgui_gpu.cpp

@@ -1,135 +0,0 @@
-#include <iostream>
-#include <string>
-
-#include "opencv2/core/core.hpp"
-#include "opencv2/core/gpumat.hpp"
-#include "opencv2/core/opengl_interop.hpp"
-#include "opencv2/gpu/gpu.hpp"
-#include "opencv2/highgui/highgui.hpp"
-#include "opencv2/contrib/contrib.hpp"
-
-using namespace std;
-using namespace cv;
-using namespace cv::gpu;
-
-struct Timer
-{
-    Timer(const string& msg_)
-    {
-        msg = msg_;
-
-        tm.reset();
-        tm.start();
-    }
-
-    ~Timer()
-    {
-        tm.stop();
-        cout << msg << " " << tm.getTimeMilli() << " ms\n";
-    }
-
-    string msg;
-    TickMeter tm;
-};
-
-int main(int argc, char* argv[])
-{
-    if (argc < 2)
-    {
-        cout << "Usage: " << argv[0] << " image" << endl;
-        return -1;
-    }
-
-    try
-    {
-        bool haveCuda = getCudaEnabledDeviceCount() > 0;
-
-        const string openGlMatWnd = "OpenGL Mat";
-        const string openGlBufferWnd = "OpenGL GlBuffer";
-        const string openGlTextureWnd = "OpenGL GlTexture";
-        const string openGlGpuMatWnd = "OpenGL GpuMat";
-        const string matWnd = "Mat";
-
-        namedWindow(openGlMatWnd, WINDOW_OPENGL | WINDOW_AUTOSIZE);
-        namedWindow(openGlBufferWnd, WINDOW_OPENGL | WINDOW_AUTOSIZE);
-        namedWindow(openGlTextureWnd, WINDOW_OPENGL | WINDOW_AUTOSIZE);
-        if (haveCuda)
-            namedWindow(openGlGpuMatWnd, WINDOW_OPENGL | WINDOW_AUTOSIZE);
-        namedWindow("Mat", WINDOW_AUTOSIZE);
-
-        Mat img = imread(argv[1]);
-
-        if (haveCuda)
-            setGlDevice();
-
-        setOpenGlContext(openGlBufferWnd);
-        GlBuffer buf(img, GlBuffer::TEXTURE_BUFFER);
-
-        setOpenGlContext(openGlTextureWnd);
-        GlTexture tex(img);
-
-        GpuMat d_img;
-        if (haveCuda)
-            d_img.upload(img);
-
-        cout << "=== First call\n\n";
-
-        {
-            Timer t("OpenGL Mat      ");
-            imshow(openGlMatWnd, img);
-        }
-        {
-            Timer t("OpenGL GlBuffer ");
-            imshow(openGlBufferWnd, buf);
-        }
-        {
-            Timer t("OpenGL GlTexture");
-            imshow(openGlTextureWnd, tex);
-        }
-        if (haveCuda)
-        {
-            Timer t("OpenGL GpuMat   ");
-            imshow(openGlGpuMatWnd, d_img);
-        }
-        {
-            Timer t("Mat             ");
-            imshow(matWnd, img);
-        }
-
-        waitKey();
-
-        cout << "\n=== Second call\n\n";
-
-        {
-            Timer t("OpenGL Mat      ");
-            imshow(openGlMatWnd, img);
-        }
-        {
-            Timer t("OpenGL GlBuffer ");
-            imshow(openGlBufferWnd, buf);
-        }
-        {
-            Timer t("OpenGL GlTexture");
-            imshow(openGlTextureWnd, tex);
-        }
-        if (haveCuda)
-        {
-            Timer t("OpenGL GpuMat   ");
-            imshow(openGlGpuMatWnd, d_img);
-        }
-        {
-            Timer t("Mat             ");
-            imshow(matWnd, img);
-        }
-
-        cout << "\n";
-
-        waitKey();
-    }
-    catch(const exception& e)
-    {
-        cout << e.what() << endl;
-    }
-
-    return 0;
-}

samples/gpu/opengl.cpp

@@ -0,0 +1,125 @@
+#include <iostream>
+#include "cvconfig.h"
+
+#ifndef HAVE_OPENGL
+int main()
+{
+    std::cerr << "Library was built without OpenGL support" << std::endl;
+    return -1;
+}
+#else
+
+#ifdef WIN32
+    #define WIN32_LEAN_AND_MEAN 1
+    #define NOMINMAX 1
+    #include <windows.h>
+#endif
+
+#if defined(__APPLE__)
+    #include <OpenGL/gl.h>
+    #include <OpenGL/glu.h>
+#else
+    #include <GL/gl.h>
+    #include <GL/glu.h>
+#endif
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/core/opengl_interop.hpp"
+#include "opencv2/core/gpumat.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace cv::gpu;
+
+const int win_width = 800;
+const int win_height = 640;
+
+struct DrawData
+{
+    GlArrays arr;
+    GlTexture tex;
+    GlBuffer indices;
+};
+
+void CV_CDECL draw(void* userdata);
+
+void CV_CDECL draw(void* userdata)
+{
+    static double angle = 0.0;
+
+    DrawData* data = static_cast<DrawData*>(userdata);
+
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    gluPerspective(45.0, (double)win_width / win_height, 0.1, 100.0);
+
+    glMatrixMode(GL_MODELVIEW);
+    glLoadIdentity();
+    gluLookAt(0, 0, 3, 0, 0, 0, 0, 1, 0);
+    glRotated(angle, 0, 1, 0);
+
+    glEnable(GL_TEXTURE_2D);
+    data->tex.bind();
+
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexEnvi(GL_TEXTURE_2D, GL_TEXTURE_ENV_MODE, GL_REPLACE);
+
+    glDisable(GL_CULL_FACE);
+
+    render(data->arr, data->indices, RenderMode::TRIANGLES);
+
+    angle += 0.3;
+}
+
+int main(int argc, char* argv[])
+{
+    if (argc < 2)
+    {
+        cout << "Usage: " << argv[0] << " image" << endl;
+        return -1;
+    }
+
+    Mat img = imread(argv[1]);
+    if (img.empty())
+    {
+        cerr << "Can't open image " << argv[1] << endl;
+        return -1;
+    }
+
+    namedWindow("OpenGL", WINDOW_OPENGL);
+    resizeWindow("OpenGL", win_width, win_height);
+
+    Mat_<Vec2f> vertex(1, 4);
+    vertex << Vec2f(-1, 1), Vec2f(-1, -1), Vec2f(1, -1), Vec2f(1, 1);
+
+    Mat_<Vec2f> texCoords(1, 4);
+    texCoords << Vec2f(0, 0), Vec2f(0, 1), Vec2f(1, 1), Vec2f(1, 0);
+
+    Mat_<int> indices(1, 6);
+    indices << 0, 1, 2, 2, 3, 0;
+
+    DrawData data;
+
+    data.arr.setVertexArray(vertex);
+    data.arr.setTexCoordArray(texCoords);
+    data.indices.copyFrom(indices);
+    data.tex.copyFrom(img);
+
+    setOpenGlDrawCallback("OpenGL", draw, &data);
+
+    for (;;)
+    {
+        updateWindow("OpenGL");
+        int key = waitKey(10);
+        if ((key & 0xff) == 27)
+            break;
+    }
+
+    setOpenGlDrawCallback("OpenGL", 0, 0);
+    destroyAllWindows();
+
+    return 0;
+}
+
+#endif

samples/gpu/pyrlk_optical_flow.cpp

@@ -3,7 +3,6 @@
 
 #include "cvconfig.h"
 #include "opencv2/core/core.hpp"
-#include "opencv2/core/opengl_interop.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include "opencv2/video/video.hpp"
@@ -66,40 +65,6 @@ static void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<
     }
 }
 
-#ifdef HAVE_OPENGL
-
-struct DrawData
-{
-    GlTexture tex;
-    GlArrays arr;
-};
-
-static void drawCallback(void* userdata)
-{
-    DrawData* data = static_cast<DrawData*>(userdata);
-
-    if (data->tex.empty() || data->arr.empty())
-        return;
-
-    static GlCamera camera;
-    static bool init_camera = true;
-
-    if (init_camera)
-    {
-        camera.setOrthoProjection(0.0, 1.0, 1.0, 0.0, 0.0, 1.0);
-        camera.lookAt(Point3d(0.0, 0.0, 1.0), Point3d(0.0, 0.0, 0.0), Point3d(0.0, 1.0, 0.0));
-        init_camera = false;
-    }
-
-    camera.setupProjectionMatrix();
-    camera.setupModelViewMatrix();
-
-    render(data->tex);
-    render(data->arr, RenderMode::TRIANGLES);
-}
-
-#endif
-
 template <typename T> inline T clamp (T x, T a, T b)
 {
     return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a));
@@ -200,12 +165,6 @@ int main(int argc, const char* argv[])
     namedWindow("PyrLK [Sparse]", WINDOW_NORMAL);
     namedWindow("PyrLK [Dense] Flow Field", WINDOW_NORMAL);
 
-    #ifdef HAVE_OPENGL
-        namedWindow("PyrLK [Dense]", WINDOW_OPENGL);
-
-        setGlDevice();
-    #endif
-
     cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl;
     cout << "Points count : " << points << endl;
 
@@ -271,21 +230,6 @@ int main(int argc, const char* argv[])
 
     imshow("PyrLK [Dense] Flow Field", flowField);
 
-    #ifdef HAVE_OPENGL
-        setOpenGlContext("PyrLK [Dense]");
-
-        GpuMat d_vertex, d_colors;
-        createOpticalFlowNeedleMap(d_u, d_v, d_vertex, d_colors);
-
-        DrawData drawData;
-
-        drawData.tex.copyFrom(d_frame0Gray);
-        drawData.arr.setVertexArray(d_vertex);
-        drawData.arr.setColorArray(d_colors, false);
-
-        setOpenGlDrawCallback("PyrLK [Dense]", drawCallback, &drawData);
-    #endif
-
     waitKey();
 
     return 0;