added addTextOpenGl function

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

@@ -151,6 +151,11 @@ CV_EXPORTS void pointCloudShow(const string& winname, const gpu::GlCamera& camer
 CV_EXPORTS void pointCloudShow(const string& winname, const gpu::GlCamera& camera, InputArray points, 
                                InputArray colors = noArray());
 
+CV_EXPORTS void addTextOpenGl(const string& winname, const string& text, Point org, Scalar color = Scalar::all(255), 
+                              const string& fontName = "Courier New", int fontHeight = 12, 
+                              int fontWeight = CV_FONT_NORMAL, int fontStyle = CV_STYLE_NORMAL);
+CV_EXPORTS void clearTextOpenGl(const string& winname);
+
 //Only for Qt
 
 CV_EXPORTS CvFont fontQt(const string& nameFont, int pointSize=-1,

modules/highgui/include/opencv2/highgui/highgui_c.h

@@ -63,7 +63,8 @@ enum {  CV_FONT_LIGHT           = 25,//QFont::Light,
 
 enum {  CV_STYLE_NORMAL         = 0,//QFont::StyleNormal,
         CV_STYLE_ITALIC         = 1,//QFont::StyleItalic,
-        CV_STYLE_OBLIQUE        = 2 //QFont::StyleOblique
+        CV_STYLE_OBLIQUE        = 2,//QFont::StyleOblique
+        CV_STYLE_UNDERLINE      = 4
 };
 /* ---------*/
 
@@ -257,6 +258,12 @@ CVAPI(void) cvCreateOpenGLCallback( const char* window_name, CvOpenGLCallback ca
 CVAPI(void) cvSetOpenGlContext(const char* window_name);
 CVAPI(void) cvUpdateWindow(const char* window_name);
 
+CVAPI(void) cvAddTextOpenGl(const char* winname, const char* text, CvPoint org, CvScalar color CV_DEFAULT(cvScalar(255.0, 255.0, 255.0, 255.0)), 
+                            const char* fontName CV_DEFAULT("Courier New"), int fontHeight CV_DEFAULT(12), 
+                            int fontWeight CV_DEFAULT(CV_FONT_NORMAL), int fontStyle CV_DEFAULT(CV_STYLE_NORMAL));
+
+CVAPI(void) cvClearTextOpenGl(const char* winname);
+
 /****************************************************************************************\
 *                         Working with Video Files and Cameras                           *
 \****************************************************************************************/

modules/highgui/src/window.cpp

@@ -597,6 +597,35 @@ void cv::pointCloudShow(const string& winname, const gpu::GlCamera& camera, Inpu
 #endif
 }
 
+// OpenGL text
+
+void cv::addTextOpenGl(const string& winname, const string& text, Point org, Scalar color, const string& fontName, int fontHeight, int fontWeight, int fontStyle)
+{
+    cvAddTextOpenGl(winname.c_str(), text.c_str(), org, color, fontName.c_str(), fontHeight, fontWeight, fontStyle);
+}
+
+void cv::clearTextOpenGl(const string& winname)
+{
+    cvClearTextOpenGl(winname.c_str());
+}
+
+#if (!defined WIN32 && !defined _WIN32) || defined HAVE_QT
+
+CV_IMPL void cvAddTextOpenGl(const char*, const char*, CvPoint, CvScalar, const char*, int, int, int)
+{
+    CV_Error(CV_OpenGlNotSupported, "This function works only under WIN32");
+}
+
+CV_IMPL void cvClearTextOpenGl(const char*)
+{
+    CV_Error(CV_OpenGlNotSupported, "This function works only under WIN32");
+}
+
+#endif //  (!defined WIN32 && !defined _WIN32) || defined HAVE_QT
+
+
+// Without OpenGL
+
 #ifndef HAVE_OPENGL
 
 #ifndef HAVE_QT
@@ -616,6 +645,16 @@ CV_IMPL void cvUpdateWindow(const char*)
     CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
 }
 
+CV_IMPL void cvAddTextOpenGl(const char*, const char*, CvPoint, CvScalar, const char*, int, int, int)
+{
+    CV_Error(CV_OpenGlNotSupported, "The library is compiled without OpenGL support");
+}
+
+CV_IMPL void cvClearTextOpenGl(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");

samples/cpp/point_cloud.cpp

 #include <cstring>
 #include <cmath>
 #include <iostream>
+#include <sstream>
 #include "opencv2/core/core.hpp"
 #include "opencv2/core/gpumat.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;
@@ -187,13 +189,15 @@ int main(int argc, const char* argv[])
 
     reprojectImageTo3D(disp, points, Q);
 
-    namedWindow("OpenGL Sample", WINDOW_OPENGL);
+    const string windowName = "OpenGL Sample";
+
+    namedWindow(windowName, WINDOW_OPENGL);
 
     int fov = 0;
-    createTrackbar("Fov", "OpenGL Sample", &fov, 100);
+    createTrackbar("Fov", windowName, &fov, 100);
 
     int mouse[2] = {0, 0};
-    setMouseCallback("OpenGL Sample", mouseCallback, mouse);
+    setMouseCallback(windowName, mouseCallback, mouse);
 
     GlArrays pointCloud;
 
@@ -211,8 +215,14 @@ int main(int argc, const char* argv[])
     const Point3d leftVec(-1.0, 0.0, 0.0);
     Point3d pos;
 
+    TickMeter tm;
+    const int step = 20;
+    int frame = 0;
+
     while (true)
     {
+        tm.start();
+
         int key = waitKey(1);
         if (key >= 0)
             key = key & 0xff;
@@ -220,7 +230,7 @@ int main(int argc, const char* argv[])
         if (key == 27)
             break;
 
-        double aspect = getWindowProperty("OpenGL Sample", WND_PROP_ASPECT_RATIO);
+        double aspect = getWindowProperty(windowName, WND_PROP_ASPECT_RATIO);
 
         const double posStep = 0.1;
         
@@ -256,7 +266,21 @@ int main(int argc, const char* argv[])
 
         camera.setCameraPos(pos, yaw, pitch, 0.0);
 
-        pointCloudShow("OpenGL Sample", camera, pointCloud);
+        pointCloudShow(windowName, camera, pointCloud);
+
+        tm.stop();
+
+        if (frame++ >= step)
+        {
+            ostringstream fps;
+            fps << "FPS: " << step / tm.getTimeSec();
+            
+            clearTextOpenGl(windowName);
+            addTextOpenGl(windowName, fps.str(), Point(0, 0), Scalar::all(255), "Courier New", 16);
+
+            frame = 0;
+            tm.reset();
+        }
     }
 
     return 0;