added OpenGL support to Gtk realization of highgui

CMakeLists.txt

@@ -507,6 +507,17 @@ if(UNIX)
       if(WITH_GTK)
         CHECK_MODULE(gtk+-2.0 HAVE_GTK)
         CHECK_MODULE(gthread-2.0 HAVE_GTHREAD)
+        if(WITH_OPENGL)
+            CHECK_MODULE(gtkglext-1.0 HAVE_GTKGLEXT)
+            if(HAVE_GTKGLEXT)
+                find_package(OpenGL QUIET)
+                if(OPENGL_FOUND)
+                    set(HAVE_OPENGL 1)
+                    set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} ${OPENGL_LIBRARIES})
+                    include_directories(${OPENGL_INCLUDE_DIR})
+                endif()
+            endif()
+        endif()
       else()
         set(HAVE_GTK FALSE)
         set(HAVE_GTHREAD FALSE)
@@ -1125,10 +1136,10 @@ if(WIN32)
         endif()
     endif()
 
-    if (WITH_OPENGL AND NOT HAVE_QT_OPENGL)
+    if(WITH_OPENGL AND NOT HAVE_QT_OPENGL)
         find_package(OpenGL QUIET)
 
-        if (OPENGL_FOUND)
+        if(OPENGL_FOUND)
             set(HAVE_OPENGL 1)
             set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} ${OPENGL_LIBRARIES})
             include_directories(${OPENGL_INCLUDE_DIR})
@@ -1725,7 +1736,8 @@ else()
             endif()
         else()
             status("    GTK+ 2.x:" HAVE_GTK     THEN YES ELSE NO)
-            status("    GThread:"  HAVE_GTHREAD THEN YES ELSE NO)
+            status("    GThread :" HAVE_GTHREAD THEN YES ELSE NO)
+            status("    GtkGlExt:" HAVE_GTKGLEXT THEN YES ELSE NO)
         endif()
     endif()
 endif()

modules/highgui/src/precomp.hpp

@@ -186,8 +186,13 @@ double cvGetModeWindow_GTK(const char* name);
 double cvGetModeWindow_CARBON(const char* name);
 
 double cvGetPropWindowAutoSize_W32(const char* name);
+double cvGetPropWindowAutoSize_GTK(const char* name);
+
 double cvGetRatioWindow_W32(const char* name);
+double cvGetRatioWindow_GTK(const char* name);
+
 double cvGetOpenGlProp_W32(const char* name);
+double cvGetOpenGlProp_GTK(const char* name);
 
 //for QT
 #if defined (HAVE_QT)

modules/highgui/src/window.cpp

@@ -109,6 +109,8 @@ CV_IMPL double cvGetWindowProperty(const char* name, int prop_id)
             return cvGetPropWindow_QT(name);
         #elif defined WIN32 || defined _WIN32
             return cvGetPropWindowAutoSize_W32(name);
+        #elif defined (HAVE_GTK)
+            return cvGetPropWindowAutoSize_GTK(name);
         #else
             return -1;
         #endif
@@ -120,6 +122,8 @@ CV_IMPL double cvGetWindowProperty(const char* name, int prop_id)
             return cvGetRatioWindow_QT(name);
         #elif defined WIN32 || defined _WIN32
             return cvGetRatioWindow_W32(name);
+        #elif defined (HAVE_GTK)
+            return cvGetRatioWindow_GTK(name);
         #else
             return -1;
         #endif
@@ -130,6 +134,8 @@ CV_IMPL double cvGetWindowProperty(const char* name, int prop_id)
         #if defined (HAVE_QT)
         #elif defined WIN32 || defined _WIN32
             return cvGetOpenGlProp_W32(name);
+        #elif defined (HAVE_GTK)
+            return cvGetOpenGlProp_GTK(name);
         #else
             return -1;
         #endif

modules/highgui/src/window_gtk.cpp

@@ -49,6 +49,12 @@
 #include "gdk/gdkkeysyms.h"
 #include <stdio.h>
 
+#ifdef HAVE_OPENGL
+    #include <gtk/gtkgl.h>
+    #include <GL/gl.h>
+    #include <GL/glu.h>
+#endif
+
 /*#if _MSC_VER >= 1200
 #pragma warning( disable: 4505 )
 #pragma comment(lib,"gtk-win32-2.0.lib")
@@ -302,45 +308,6 @@ cvImageWidget_size_allocate (GtkWidget     *widget,
     }
 }
 
-static gboolean
-cvImageWidget_expose( GtkWidget      *widget,
-                 GdkEventExpose *event )
-{
-  CvImageWidget *image_widget;
-
-  g_return_val_if_fail (widget != NULL, FALSE);
-  g_return_val_if_fail (CV_IS_IMAGE_WIDGET (widget), FALSE);
-  g_return_val_if_fail (event != NULL, FALSE);
-
-  if (event->count > 0)
-    return FALSE;
-
-  image_widget = CV_IMAGE_WIDGET (widget);
-
-  gdk_window_clear_area (widget->window,
-                         0, 0,
-                         widget->allocation.width,
-                         widget->allocation.height);
-  if( image_widget->scaled_image ){
-	  // center image in available region
-	  int x0 = (widget->allocation.width - image_widget->scaled_image->cols)/2;
-	  int y0 = (widget->allocation.height - image_widget->scaled_image->rows)/2;
-
-	  gdk_draw_rgb_image( widget->window, widget->style->fg_gc[GTK_STATE_NORMAL],
-		  x0, y0, MIN(image_widget->scaled_image->cols, widget->allocation.width),
-		  MIN(image_widget->scaled_image->rows, widget->allocation.height),
-		  GDK_RGB_DITHER_MAX, image_widget->scaled_image->data.ptr, image_widget->scaled_image->step );
-  }
-  else if( image_widget->original_image ){
-	  gdk_draw_rgb_image( widget->window, widget->style->fg_gc[GTK_STATE_NORMAL],
-		  0, 0,
-		  MIN(image_widget->original_image->cols, widget->allocation.width),
-		   MIN(image_widget->original_image->rows, widget->allocation.height),
-		  GDK_RGB_DITHER_MAX, image_widget->original_image->data.ptr, image_widget->original_image->step );
-  }
-  return TRUE;
-}
-
 static void
 cvImageWidget_destroy (GtkObject *object)
 {
@@ -371,7 +338,6 @@ static void cvImageWidget_class_init (CvImageWidgetClass * klass)
   object_class->destroy = cvImageWidget_destroy;
 
   widget_class->realize = cvImageWidget_realize;
-  widget_class->expose_event = cvImageWidget_expose;
   widget_class->size_request = cvImageWidget_size_request;
   widget_class->size_allocate = cvImageWidget_size_allocate;
   widget_class->button_press_event = NULL;
@@ -456,6 +422,16 @@ typedef struct CvWindow
         CvTrackbar* first;
     }
     toolbar;
+
+#ifdef HAVE_OPENGL
+    bool useGl;
+
+    CvOpenGLCallback glDrawCallback;
+    void* glDrawData;
+
+    CvOpenGlCleanCallback glCleanCallback;
+    void* glCleanData;
+#endif
 }
 CvWindow;
 
@@ -488,6 +464,11 @@ CV_IMPL int cvInitSystem( int argc, char** argv )
         hg_windows = 0;
 
         gtk_init( &argc, &argv );
+
+        #ifdef HAVE_OPENGL
+            gtk_gl_init(&argc, &argv);
+        #endif
+
         wasInitialized = 1;
     }
 
@@ -579,11 +560,11 @@ double cvGetModeWindow_GTK(const char* name)//YV
 
     CvWindow* window;
 
-    if(!name)
+    if (!name)
         CV_ERROR( CV_StsNullPtr, "NULL name string" );
 
     window = icvFindWindowByName( name );
-    if( !window )
+    if (!window)
         CV_ERROR( CV_StsNullPtr, "NULL window" );
 
     CV_LOCK_MUTEX();
@@ -637,6 +618,393 @@ void cvSetModeWindow_GTK( const char* name, double prop_value)//Yannick Verdie
     __END__;
 }
 
+
+double cvGetPropWindowAutoSize_GTK(const char* name)
+{
+    double result = -1;
+
+    CV_FUNCNAME( "cvGetPropWindowAutoSize_GTK" );
+
+    __BEGIN__;
+
+    CvWindow* window;
+
+    if (!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if (!window)
+        EXIT; // keep silence here
+
+    result = window->flags & CV_WINDOW_AUTOSIZE;
+
+    __END__;
+
+    return result;
+}
+
+double cvGetRatioWindow_GTK(const char* name)
+{
+    double result = -1;
+
+    CV_FUNCNAME( "cvGetRatioWindow_GTK" );
+
+    __BEGIN__;
+
+    CvWindow* window;
+
+    if (!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if (!window)
+        EXIT; // keep silence here
+
+    result = static_cast<double>(window->widget->allocation.width) / window->widget->allocation.height;
+
+    __END__;
+
+    return result;
+}
+
+double cvGetOpenGlProp_GTK(const char* name)
+{
+    double result = -1;
+
+#ifdef HAVE_OPENGL
+    CV_FUNCNAME( "cvGetOpenGlProp_GTK" );
+
+    __BEGIN__;
+
+    CvWindow* window;
+
+    if (!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if (!window)
+        EXIT; // keep silence here
+
+    result = window->useGl;
+
+    __END__;
+#endif
+
+    return result;
+}
+
+
+// OpenGL support
+
+#ifdef HAVE_OPENGL
+
+namespace
+{
+    class GlFuncTab_GTK : public cv::gpu::GlFuncTab
+    {
+    public:
+        PFNGLGENBUFFERSPROC    glGenBuffersExt;
+        PFNGLDELETEBUFFERSPROC glDeleteBuffersExt;
+
+        PFNGLBUFFERDATAPROC    glBufferDataExt;
+        PFNGLBUFFERSUBDATAPROC glBufferSubDataExt;
+
+        PFNGLBINDBUFFERPROC    glBindBufferExt;
+
+        PFNGLMAPBUFFERPROC     glMapBufferExt;
+        PFNGLUNMAPBUFFERPROC   glUnmapBufferExt;
+
+        bool initialized;
+
+        GlFuncTab_GTK()
+        {
+            glGenBuffersExt    = 0;
+            glDeleteBuffersExt = 0;
+
+            glBufferDataExt    = 0;
+            glBufferSubDataExt = 0;
+
+            glBindBufferExt    = 0;
+
+            glMapBufferExt     = 0;
+            glUnmapBufferExt   = 0;
+
+            initialized = false;
+        }
+
+        void genBuffers(int n, unsigned int* buffers) const
+        {
+            CV_FUNCNAME( "genBuffers" );
+
+            __BEGIN__;
+
+            if (!glGenBuffersExt)
+                CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
+
+            glGenBuffersExt(n, buffers);
+            CV_CheckGlError();
+
+            __END__;
+        }
+
+        void deleteBuffers(int n, const unsigned int* buffers) const
+        {
+            CV_FUNCNAME( "deleteBuffers" );
+
+            __BEGIN__;
+
+            if (!glDeleteBuffersExt)
+                CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
+
+            glDeleteBuffersExt(n, buffers);
+            CV_CheckGlError();
+
+            __END__;
+        }
+
+        void bufferData(unsigned int target, ptrdiff_t size, const void* data, unsigned int usage) const
+        {
+            CV_FUNCNAME( "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 bufferSubData(unsigned int target, ptrdiff_t offset, ptrdiff_t size, const void* data) const
+        {
+            CV_FUNCNAME( "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 bindBuffer(unsigned int target, unsigned int buffer) const
+        {
+            CV_FUNCNAME( "bindBuffer" );
+
+            __BEGIN__;
+
+            if (!glBindBufferExt)
+                CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
+
+            glBindBufferExt(target, buffer);
+            CV_CheckGlError();
+
+            __END__;
+        }
+
+        void* mapBuffer(unsigned int target, unsigned int access) const
+        {
+            CV_FUNCNAME( "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 unmapBuffer(unsigned int target) const
+        {
+            CV_FUNCNAME( "unmapBuffer" );
+
+            __BEGIN__;
+
+            if (!glUnmapBufferExt)
+                CV_ERROR(CV_OpenGlApiCallError, "Current OpenGL implementation doesn't support required extension");
+
+            glUnmapBufferExt(target);
+            CV_CheckGlError();
+
+            __END__;
+        }
+
+        bool 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;
+
+            cv::gpu::setGlFuncTab(&glFuncTab);
+
+            first = false;
+        }
+    }
+
+    void createGlContext(CvWindow* window)
+    {
+        GdkGLConfig* glconfig;
+
+        CV_FUNCNAME( "createGlContext" );
+
+        __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)
+            CV_ERROR( CV_OpenGlApiCallError, "Can't Create A GL Device Context" );
+
+        // Set OpenGL-capability to the widget
+        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" );
+
+        __BEGIN__;
+
+        GdkGLContext* glcontext = gtk_widget_get_gl_context(window->widget);
+        GdkGLDrawable* gldrawable = gtk_widget_get_gl_drawable(window->widget);
+
+        if (!gdk_gl_drawable_gl_begin (gldrawable, glcontext))
+            CV_ERROR( CV_OpenGlApiCallError, "Can't Activate The GL Rendering Context" );
+
+        glViewport(0, 0, window->widget->allocation.width, window->widget->allocation.height);
+
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+        if (window->glDrawCallback)
+            window->glDrawCallback(window->glDrawData);
+
+        CV_CheckGlError();
+
+        if (gdk_gl_drawable_is_double_buffered (gldrawable))
+            gdk_gl_drawable_swap_buffers(gldrawable);
+        else
+            glFlush();
+
+        gdk_gl_drawable_gl_end(gldrawable);
+
+        __END__;
+    }
+}
+
+#endif // HAVE_OPENGL
+
+
+static gboolean cvImageWidget_expose(GtkWidget* widget, GdkEventExpose* event, gpointer data)
+{
+#ifdef HAVE_OPENGL
+    CvWindow* window = (CvWindow*)data;
+
+    if (window->useGl)
+    {
+        drawGl(window);
+        return TRUE;
+    }
+#endif
+
+  CvImageWidget *image_widget;
+
+  g_return_val_if_fail (widget != NULL, FALSE);
+  g_return_val_if_fail (CV_IS_IMAGE_WIDGET (widget), FALSE);
+  g_return_val_if_fail (event != NULL, FALSE);
+
+  if (event->count > 0)
+    return FALSE;
+
+  image_widget = CV_IMAGE_WIDGET (widget);
+
+  gdk_window_clear_area (widget->window,
+                         0, 0,
+                         widget->allocation.width,
+                         widget->allocation.height);
+  if( image_widget->scaled_image ){
+      // center image in available region
+      int x0 = (widget->allocation.width - image_widget->scaled_image->cols)/2;
+      int y0 = (widget->allocation.height - image_widget->scaled_image->rows)/2;
+
+      gdk_draw_rgb_image( widget->window, widget->style->fg_gc[GTK_STATE_NORMAL],
+          x0, y0, MIN(image_widget->scaled_image->cols, widget->allocation.width),
+          MIN(image_widget->scaled_image->rows, widget->allocation.height),
+          GDK_RGB_DITHER_MAX, image_widget->scaled_image->data.ptr, image_widget->scaled_image->step );
+  }
+  else if( image_widget->original_image ){
+      gdk_draw_rgb_image( widget->window, widget->style->fg_gc[GTK_STATE_NORMAL],
+          0, 0,
+          MIN(image_widget->original_image->cols, widget->allocation.width),
+           MIN(image_widget->original_image->rows, widget->allocation.height),
+          GDK_RGB_DITHER_MAX, image_widget->original_image->data.ptr, image_widget->original_image->step );
+  }
+  return TRUE;
+}
+
 CV_IMPL int cvNamedWindow( const char* name, int flags )
 {
     int result = 0;
@@ -683,6 +1051,15 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
     gtk_widget_show( window->widget );
     gtk_container_add( GTK_CONTAINER(window->frame), window->paned );
     gtk_widget_show( window->paned );
+
+#ifndef HAVE_OPENGL
+    if (flags & CV_WINDOW_OPENGL)
+        CV_ERROR( CV_OpenGlNotSupported, "Library was built without OpenGL support" );
+#else
+    if (flags & CV_WINDOW_OPENGL)
+        createGlContext(window);
+#endif
+
     //
     // configure event handlers
     // TODO -- move this to CvImageWidget ?
@@ -696,9 +1073,10 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
                         GTK_SIGNAL_FUNC(icvOnMouse), window );
     gtk_signal_connect( GTK_OBJECT(window->frame), "delete-event",
                         GTK_SIGNAL_FUNC(icvOnClose), window );
+    gtk_signal_connect( GTK_OBJECT(window->widget), "expose-event",
+                        GTK_SIGNAL_FUNC(cvImageWidget_expose), window );
 
-	gtk_widget_add_events (window->widget, GDK_EXPOSURE_MASK | GDK_BUTTON_RELEASE_MASK |
-                                          GDK_BUTTON_PRESS_MASK | GDK_POINTER_MOTION_MASK) ;
+    gtk_widget_add_events (window->widget, GDK_BUTTON_RELEASE_MASK | GDK_BUTTON_PRESS_MASK | GDK_POINTER_MOTION_MASK) ;
 
     gtk_widget_show( window->frame );
     gtk_window_set_title( GTK_WINDOW(window->frame), name );
@@ -721,6 +1099,11 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
 
     CV_UNLOCK_MUTEX();
 
+#ifdef HAVE_OPENGL
+    if (window->useGl)
+        cvSetOpenGlContext(name);
+#endif
+
     result = 1;
     __END__;
 
@@ -728,10 +1111,144 @@ CV_IMPL int cvNamedWindow( const char* name, int flags )
 }
 
 
+#ifdef HAVE_OPENGL
+
+CV_IMPL void cvSetOpenGlContext(const char* name)
+{
+    CvWindow* window;
+    GdkGLContext* glcontext;
+    GdkGLDrawable* gldrawable;
+
+    CV_FUNCNAME( "cvSetOpenGlContext" );
+
+    __BEGIN__;
+
+    if(!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if (!window)
+        CV_ERROR( CV_StsNullPtr, "NULL window" );
+
+    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);
+
+    if (!gdk_gl_drawable_make_current(gldrawable, glcontext))
+        CV_ERROR( CV_OpenGlApiCallError, "Can't Activate The GL Rendering Context" );
+
+    __END__;
+}
+
+CV_IMPL void cvUpdateWindow(const char* name)
+{
+    CV_FUNCNAME( "cvUpdateWindow" );
+
+    __BEGIN__;
+
+    CvWindow* window;
+
+    if (!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if (!window)
+        EXIT;
+
+    // window does not refresh without this
+    gtk_widget_queue_draw( GTK_WIDGET(window->widget) );
+
+    __END__;
+}
+
+CV_IMPL void cvCreateOpenGLCallback(const char* name, CvOpenGLCallback callback, void* userdata, double, double, double)
+{
+    CvWindow* window;
+
+    CV_FUNCNAME( "cvCreateOpenGLCallback" );
+
+    __BEGIN__;
+
+    if(!name)
+        CV_ERROR( CV_StsNullPtr, "NULL name string" );
+
+    window = icvFindWindowByName( name );
+    if( !window )
+        EXIT;
+
+    if (!window->useGl)
+        CV_ERROR( CV_OpenGlNotSupported, "Window was created without OpenGL context" );
+
+    window->glDrawCallback = callback;
+    window->glDrawData = userdata;
+
+    __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
+
+
+
+
 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
@@ -835,7 +1352,20 @@ cvShowImage( const char* name, const CvArr* arr )
         cvNamedWindow(name, 1);
         window = icvFindWindowByName(name);
     }
-    if( window && arr ){
+
+    if( window && arr )
+    {
+    #ifdef HAVE_OPENGL
+        if (window->useGl)
+        {
+            CvMat stub;
+            CvMat* mat = cvGetMat(arr, &stub);
+            cv::Mat im(mat);
+            cv::imshow(name, im);
+            return;
+        }
+    #endif
+
         CvImageWidget * image_widget = CV_IMAGE_WIDGET( window->widget );
         cvImageWidgetSetImage( image_widget, arr );
     }
@@ -862,8 +1392,8 @@ CV_IMPL void cvResizeWindow(const char* name, int width, int height )
         EXIT;
 
     image_widget = CV_IMAGE_WIDGET( window->widget );
-	if(image_widget->flags & CV_WINDOW_AUTOSIZE)
-		EXIT;
+    //if(image_widget->flags & CV_WINDOW_AUTOSIZE)
+        //EXIT;
 
     CV_LOCK_MUTEX();
 
@@ -1240,7 +1770,7 @@ static gboolean icvOnMouse( GtkWidget *widget, GdkEvent *event, gpointer user_da
 
     if( window->signature != CV_WINDOW_MAGIC_VAL ||
         window->widget != widget || !window->widget ||
-		!window->on_mouse || !image_widget->original_image)
+        !window->on_mouse /*|| !image_widget->original_image*/)
         return FALSE;
 
     if( event->type == GDK_MOTION_NOTIFY )
@@ -1299,8 +1829,8 @@ static gboolean icvOnMouse( GtkWidget *widget, GdkEvent *event, gpointer user_da
             pt = cvPointFrom32f( pt32f );
         }
 
-		if((unsigned)pt.x < (unsigned)(image_widget->original_image->width) &&
-		   (unsigned)pt.y < (unsigned)(image_widget->original_image->height) )
+//        if((unsigned)pt.x < (unsigned)(image_widget->original_image->width) &&
+//           (unsigned)pt.y < (unsigned)(image_widget->original_image->height) )
         {
             int flags = (state & GDK_SHIFT_MASK ? CV_EVENT_FLAG_SHIFTKEY : 0) |
                 (state & GDK_CONTROL_MASK ? CV_EVENT_FLAG_CTRLKEY : 0) |

samples/cpp/point_cloud.cpp

@@ -214,6 +214,8 @@ int main(int argc, const char* argv[])
     while (true)
     {
         int key = waitKey(1);
+        if (key >= 0)
+            key = key & 0xff;
 
         if (key == 27)
             break;
@@ -221,7 +223,13 @@ int main(int argc, const char* argv[])
         double aspect = getWindowProperty("OpenGL Sample", WND_PROP_ASPECT_RATIO);
 
         const double posStep = 0.1;
+        
+        #ifdef _WIN32
         const double mouseStep = 0.001;
+        #else
+        const double mouseStep = 0.000001;
+        #endif
+        
         const int mouseClamp = 300;
 
         camera.setPerspectiveProjection(30.0 + fov / 100.0 * 40.0, aspect, 0.1, 1000.0);