Merge pull request #2329 from ilya-lavrenov:macosx_ogl

CMakeLists.txt

@@ -142,7 +142,7 @@ OCV_OPTION(WITH_IPP            "Include Intel IPP support"                   OFF
 OCV_OPTION(WITH_JASPER         "Include JPEG2K support"                      ON   IF (NOT IOS) )
 OCV_OPTION(WITH_JPEG           "Include JPEG support"                        ON)
 OCV_OPTION(WITH_OPENEXR        "Include ILM support via OpenEXR"             ON   IF (NOT IOS) )
-OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID AND NOT APPLE) )
+OCV_OPTION(WITH_OPENGL         "Include OpenGL support"                      OFF  IF (NOT ANDROID) )
 OCV_OPTION(WITH_OPENNI         "Include OpenNI support"                      OFF  IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_PNG            "Include PNG support"                         ON)
 OCV_OPTION(WITH_PVAPI          "Include Prosilica GigE support"              ON   IF (NOT ANDROID AND NOT IOS) )

modules/core/src/gl_core_3_1.cpp

@@ -47,22 +47,27 @@
 #include "gl_core_3_1.hpp"
 
 #ifdef HAVE_OPENGL
-    #if defined(__APPLE__)
-        #include <mach-o/dyld.h>
+
+    #ifdef __APPLE__
+        #include <dlfcn.h>
 
         static void* AppleGLGetProcAddress (const char* name)
         {
-            static const struct mach_header* image = 0;
-            if (!image)
-                image = NSAddImage("/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL", NSADDIMAGE_OPTION_RETURN_ON_ERROR);
-
-            // prepend a '_' for the Unix C symbol mangling convention
-            std::string symbolName = "_";
-            symbolName += std::string(name);
-
-            NSSymbol symbol = image ? NSLookupSymbolInImage(image, &symbolName[0], NSLOOKUPSYMBOLINIMAGE_OPTION_BIND | NSLOOKUPSYMBOLINIMAGE_OPTION_RETURN_ON_ERROR) : 0;
+            static bool initialized = false;
+            static void * handle = NULL;
+            if (!handle)
+            {
+                if (!initialized)
+                {
+                    initialized = true;
+                    const char * const path = "/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL";
 
-            return symbol ? NSAddressOfSymbol(symbol) : 0;
+                    handle = dlopen(path, RTLD_LAZY | RTLD_GLOBAL);
+                }
+                if (!handle)
+                    return NULL;
+            }
+            return dlsym(handle, name);
         }
     #endif // __APPLE__
 

samples/cpp/Qt_sample/CMakeLists.txt

@@ -7,6 +7,6 @@ FIND_PACKAGE( OpenCV REQUIRED )
 find_package (OpenGL REQUIRED)
 
 
-ADD_EXECUTABLE(OpenGL_Qt_Binding main.cpp)
+ADD_EXECUTABLE(OpenGL_Qt_Binding qt_opengl.cpp)
 TARGET_LINK_LIBRARIES(OpenGL_Qt_Binding ${OpenCV_LIBS} ${OPENGL_LIBRARIES} )
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cube4.avi ${CMAKE_CURRENT_BINARY_DIR}/cube4.avi COPYONLY)

samples/cpp/Qt_sample/main.cpp → samples/cpp/Qt_sample/qt_opengl.cpp

-//Yannick Verdie 2010
-
-//--- Please read help() below: ---
+// Yannick Verdie 2010
+// --- Please read help() below: ---
 
 #include <iostream>
 #include <vector>
@@ -11,18 +10,10 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/legacy/compat.hpp>
 
-#if defined WIN32 || defined _WIN32 || defined WINCE
-    #include <windows.h>
-    #undef small
-    #undef min
-    #undef max
-    #undef abs
-#endif
-
 #ifdef __APPLE__
-    #include <OpenGL/gl.h>
+#include <OpenGL/gl.h>
 #else
-    #include <GL/gl.h>
+#include <GL/gl.h>
 #endif
 
 using namespace std;
@@ -30,21 +21,22 @@ using namespace cv;
 
 static void help()
 {
-    cout << "\nThis demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
-            "  and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
+    cout << "This demo demonstrates the use of the Qt enhanced version of the highgui GUI interface\n"
+            "and dang if it doesn't throw in the use of of the POSIT 3D tracking algorithm too\n"
             "It works off of the video: cube4.avi\n"
-            "Using OpenCV version %s\n" << CV_VERSION << "\n\n"
-" 1). This demo is mainly based on work from Javier Barandiaran Martirena\n"
-"     See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
-" 2). This is a demo to illustrate how to use **OpenGL Callback**.\n"
-" 3). You need Qt binding to compile this sample with OpenGL support enabled.\n"
-" 4). The features' detection is very basic and could highly be improved \n"
-"     (basic thresholding tuned for the specific video) but 2).\n"
-" 5) THANKS TO Google Summer of Code 2010 for supporting this work!\n" << endl;
+            "Using OpenCV version " << CV_VERSION << "\n\n"
+
+            " 1) This demo is mainly based on work from Javier Barandiaran Martirena\n"
+            "    See this page http://code.opencv.org/projects/opencv/wiki/Posit.\n"
+            " 2) This is a demo to illustrate how to use **OpenGL Callback**.\n"
+            " 3) You need Qt binding to compile this sample with OpenGL support enabled.\n"
+            " 4) The features' detection is very basic and could highly be improved\n"
+            "    (basic thresholding tuned for the specific video) but 2).\n"
+            " 5) Thanks to Google Summer of Code 2010 for supporting this work!\n" << endl;
 }
 
 #define FOCAL_LENGTH 600
-#define CUBE_SIZE 10
+#define CUBE_SIZE 0.5
 
 static void renderCube(float size)
 {
@@ -88,7 +80,6 @@ static void renderCube(float size)
     glEnd();
 }
 
-
 static void on_opengl(void* param)
 {
     //Draw the object with the estimated pose
@@ -104,172 +95,174 @@ static void on_opengl(void* param)
     glDisable( GL_LIGHTING );
 }
 
-static void initPOSIT(std::vector<CvPoint3D32f> *modelPoints)
+static void initPOSIT(std::vector<CvPoint3D32f> * modelPoints)
 {
-    //Create the model pointss
-    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); //The first must be (0,0,0)
+    // Create the model pointss
+    modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, 0.0f)); // The first must be (0, 0, 0)
     modelPoints->push_back(cvPoint3D32f(0.0f, 0.0f, CUBE_SIZE));
     modelPoints->push_back(cvPoint3D32f(CUBE_SIZE, 0.0f, 0.0f));
     modelPoints->push_back(cvPoint3D32f(0.0f, CUBE_SIZE, 0.0f));
 }
 
-static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source, Mat& grayImage)
+static void foundCorners(vector<CvPoint2D32f> * srcImagePoints, const Mat & source, Mat & grayImage)
 {
     cvtColor(source, grayImage, COLOR_RGB2GRAY);
-    GaussianBlur(grayImage, grayImage, Size(11,11), 0, 0);
+    GaussianBlur(grayImage, grayImage, Size(11, 11), 0, 0);
     normalize(grayImage, grayImage, 0, 255, NORM_MINMAX);
     threshold(grayImage, grayImage, 26, 255, THRESH_BINARY_INV); //25
 
     Mat MgrayImage = grayImage;
-    //For debug
-    //MgrayImage = MgrayImage.clone();//deep copy
     vector<vector<Point> > contours;
     vector<Vec4i> hierarchy;
     findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
 
     Point p;
-    vector<CvPoint2D32f> srcImagePoints_temp(4,cvPoint2D32f(0,0));
+    vector<CvPoint2D32f> srcImagePoints_temp(4, cvPoint2D32f(0, 0));
 
     if (contours.size() == srcImagePoints_temp.size())
     {
-
-        for(size_t i = 0 ; i<contours.size(); i++ )
+        for (size_t i = 0; i < contours.size(); i++ )
         {
-
             p.x = p.y = 0;
 
-            for(size_t j = 0 ; j<contours[i].size(); j++ )
-                p+=contours[i][j];
+            for (size_t j = 0 ; j < contours[i].size(); j++)
+                p += contours[i][j];
 
-            srcImagePoints_temp.at(i)=cvPoint2D32f(float(p.x)/contours[i].size(),float(p.y)/contours[i].size());
+            srcImagePoints_temp.at(i) = cvPoint2D32f(float(p.x) / contours[i].size(), float(p.y) / contours[i].size());
         }
 
-        //Need to keep the same order
-        //> y = 0
-        //> x = 1
-        //< x = 2
-        //< y = 3
+        // Need to keep the same order
+        // > y = 0
+        // > x = 1
+        // < x = 2
+        // < y = 3
 
-        //get point 0;
+        // get point 0;
         size_t index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
             if (srcImagePoints_temp.at(i).y > srcImagePoints_temp.at(index).y)
                 index = i;
-        }
         srcImagePoints->at(0) = srcImagePoints_temp.at(index);
 
-        //get point 1;
+        // get point 1;
         index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
             if (srcImagePoints_temp.at(i).x > srcImagePoints_temp.at(index).x)
                 index = i;
-        }
         srcImagePoints->at(1) = srcImagePoints_temp.at(index);
 
-        //get point 2;
+        // get point 2;
         index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++)
             if (srcImagePoints_temp.at(i).x < srcImagePoints_temp.at(index).x)
                 index = i;
-        }
         srcImagePoints->at(2) = srcImagePoints_temp.at(index);
 
-        //get point 3;
+        // get point 3;
         index = 0;
-        for(size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
-        {
+        for (size_t i = 1 ; i<srcImagePoints_temp.size(); i++ )
             if (srcImagePoints_temp.at(i).y < srcImagePoints_temp.at(index).y)
                 index = i;
-        }
         srcImagePoints->at(3) = srcImagePoints_temp.at(index);
 
         Mat Msource = source;
         stringstream ss;
-        for(size_t i = 0 ; i<srcImagePoints_temp.size(); i++ )
+        for (size_t i = 0; i<srcImagePoints_temp.size(); i++ )
         {
-            ss<<i;
-            circle(Msource,srcImagePoints->at(i),5,Scalar(0,0,255));
-            putText(Msource,ss.str(),srcImagePoints->at(i),FONT_HERSHEY_SIMPLEX,1,Scalar(0,0,255));
+            ss << i;
+            circle(Msource, srcImagePoints->at(i), 5, Scalar(0, 0, 255));
+            putText(Msource, ss.str(), srcImagePoints->at(i), FONT_HERSHEY_SIMPLEX, 1, Scalar(0, 0, 255));
             ss.str("");
 
-            //new coordinate system in the middle of the frame and reversed (camera coordinate system)
-            srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x-source.cols/2,source.rows/2-srcImagePoints_temp.at(i).y);
+            // new coordinate system in the middle of the frame and reversed (camera coordinate system)
+            srcImagePoints->at(i) = cvPoint2D32f(srcImagePoints_temp.at(i).x - source.cols / 2,
+                                                 source.rows / 2 - srcImagePoints_temp.at(i).y);
         }
     }
-
 }
 
-static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMatrix, const CvVect32f &translationVector)
+static void createOpenGLMatrixFrom(float * posePOSIT, const CvMatr32f & rotationMatrix,
+                                   const CvVect32f & translationVector)
 {
-
-
-    //coordinate system returned is relative to the first 3D input point
-    for (int f=0; f<3; f++)
-    {
-        for (int c=0; c<3; c++)
-        {
-            posePOSIT[c*4+f] = rotationMatrix[f*3+c];	//transposed
-        }
-    }
-    posePOSIT[3] = 0.0;
-    posePOSIT[7] = 0.0;
-    posePOSIT[11] = 0.0;
-    posePOSIT[12] = translationVector[0];
-    posePOSIT[13] = translationVector[1];
-    posePOSIT[14] = translationVector[2];
-    posePOSIT[15] = 1.0;
+    // coordinate system returned is relative to the first 3D input point
+    for (int f = 0; f < 3; f++)
+        for (int c = 0; c < 3; c++)
+            posePOSIT[c * 4 + f] = rotationMatrix[f * 3 + c]; // transposed
+
+    posePOSIT[3] = translationVector[0];
+    posePOSIT[7] = translationVector[1];
+    posePOSIT[11] = translationVector[2];
+    posePOSIT[12] = 0.0f;
+    posePOSIT[13] = 0.0f;
+    posePOSIT[14] = 0.0f;
+    posePOSIT[15] = 1.0f;
 }
 
 int main(void)
 {
     help();
-    VideoCapture video("cube4.avi");
-    CV_Assert(video.isOpened());
 
-    Mat source, grayImage;
+    string fileName = "cube4.avi";
+    VideoCapture video(fileName);
+    if (!video.isOpened())
+    {
+        cerr << "Video file " << fileName << " could not be opened" << endl;
+        return EXIT_FAILURE;
+    }
 
+    Mat source, grayImage;
     video >> source;
 
-    namedWindow("original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
-    namedWindow("POSIT", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
-    displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear). This demo is only to illustrate how to use OpenGL callback.\n -- Press ESC to exit.", 10000);
+    namedWindow("Original", WINDOW_AUTOSIZE | CV_WINDOW_FREERATIO);
+    namedWindow("POSIT", WINDOW_OPENGL | CV_WINDOW_FREERATIO);
+    resizeWindow("POSIT", source.cols, source.rows);
 
-    float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-    setOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix);
+    displayOverlay("POSIT", "We lost the 4 corners' detection quite often (the red circles disappear).\n"
+                   "This demo is only to illustrate how to use OpenGL callback.\n"
+                   " -- Press ESC to exit.", 10000);
+
+    float OpenGLMatrix[] = { 0, 0, 0, 0,
+                             0, 0, 0, 0,
+                             0, 0, 0, 0,
+                             0, 0, 0, 0 };
+    setOpenGlContext("POSIT");
+    setOpenGlDrawCallback("POSIT", on_opengl, OpenGLMatrix);
 
     vector<CvPoint3D32f> modelPoints;
     initPOSIT(&modelPoints);
 
-    //Create the POSIT object with the model points
-    CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size() );
+    // Create the POSIT object with the model points
+    CvPOSITObject* positObject = cvCreatePOSITObject( &modelPoints[0], (int)modelPoints.size());
 
     CvMatr32f rotation_matrix = new float[9];
     CvVect32f translation_vector = new float[3];
-    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
-
-    vector<CvPoint2D32f> srcImagePoints(4,cvPoint2D32f(0,0));
+    CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1e-4f);
+    vector<CvPoint2D32f> srcImagePoints(4, cvPoint2D32f(0, 0));
 
-
-    while(waitKey(33) != 27)
+    while (waitKey(33) != 27)
     {
         video >> source;
-        imshow("original",source);
+        if (source.empty())
+            break;
+
+        imshow("Original", source);
 
-        foundCorners(&srcImagePoints,source,grayImage);
-        cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
-        createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector);
+        foundCorners(&srcImagePoints, source, grayImage);
+        cvPOSIT(positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector);
+        createOpenGLMatrixFrom(OpenGLMatrix, rotation_matrix, translation_vector);
 
-        imshow("POSIT",source);
+        updateWindow("POSIT");
 
         if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99)
             video.set(CV_CAP_PROP_POS_AVI_RATIO, 0);
     }
 
+    setOpenGlDrawCallback("POSIT", NULL, NULL);
     destroyAllWindows();
     cvReleasePOSITObject(&positObject);
 
-    return 0;
+    delete[]rotation_matrix;
+    delete[]translation_vector;
+
+    return EXIT_SUCCESS;
 }