Merge pull request #4127 from avershov:opengl-opencl-sample

modules/core/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl.hpp

+//
+// AUTOGENERATED, DO NOT EDIT
+//
+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_HPP__
+#error "Invalid usage"
+#endif
+
+// generated by parser_cl.py
+#define clCreateFromGLBuffer clCreateFromGLBuffer_
+#define clCreateFromGLRenderbuffer clCreateFromGLRenderbuffer_
+#define clCreateFromGLTexture clCreateFromGLTexture_
+#define clCreateFromGLTexture2D clCreateFromGLTexture2D_
+#define clCreateFromGLTexture3D clCreateFromGLTexture3D_
+#define clEnqueueAcquireGLObjects clEnqueueAcquireGLObjects_
+#define clEnqueueReleaseGLObjects clEnqueueReleaseGLObjects_
+#define clGetGLContextInfoKHR clGetGLContextInfoKHR_
+#define clGetGLObjectInfo clGetGLObjectInfo_
+#define clGetGLTextureInfo clGetGLTextureInfo_
+
+#if defined __APPLE__
+#include <OpenCL/cl_gl.h>
+#else
+#include <CL/cl_gl.h>
+#endif
+
+// generated by parser_cl.py
+#undef clCreateFromGLBuffer
+#define clCreateFromGLBuffer clCreateFromGLBuffer_pfn
+#undef clCreateFromGLRenderbuffer
+#define clCreateFromGLRenderbuffer clCreateFromGLRenderbuffer_pfn
+#undef clCreateFromGLTexture
+#define clCreateFromGLTexture clCreateFromGLTexture_pfn
+#undef clCreateFromGLTexture2D
+#define clCreateFromGLTexture2D clCreateFromGLTexture2D_pfn
+#undef clCreateFromGLTexture3D
+#define clCreateFromGLTexture3D clCreateFromGLTexture3D_pfn
+#undef clEnqueueAcquireGLObjects
+#define clEnqueueAcquireGLObjects clEnqueueAcquireGLObjects_pfn
+#undef clEnqueueReleaseGLObjects
+#define clEnqueueReleaseGLObjects clEnqueueReleaseGLObjects_pfn
+#undef clGetGLContextInfoKHR
+#define clGetGLContextInfoKHR clGetGLContextInfoKHR_pfn
+#undef clGetGLObjectInfo
+#define clGetGLObjectInfo clGetGLObjectInfo_pfn
+#undef clGetGLTextureInfo
+#define clGetGLTextureInfo clGetGLTextureInfo_pfn
+
+// generated by parser_cl.py
+extern CL_RUNTIME_EXPORT cl_mem (CL_API_CALL*clCreateFromGLBuffer)(cl_context, cl_mem_flags, cl_GLuint, int*);
+extern CL_RUNTIME_EXPORT cl_mem (CL_API_CALL*clCreateFromGLRenderbuffer)(cl_context, cl_mem_flags, cl_GLuint, cl_int*);
+extern CL_RUNTIME_EXPORT cl_mem (CL_API_CALL*clCreateFromGLTexture)(cl_context, cl_mem_flags, cl_GLenum, cl_GLint, cl_GLuint, cl_int*);
+extern CL_RUNTIME_EXPORT cl_mem (CL_API_CALL*clCreateFromGLTexture2D)(cl_context, cl_mem_flags, cl_GLenum, cl_GLint, cl_GLuint, cl_int*);
+extern CL_RUNTIME_EXPORT cl_mem (CL_API_CALL*clCreateFromGLTexture3D)(cl_context, cl_mem_flags, cl_GLenum, cl_GLint, cl_GLuint, cl_int*);
+extern CL_RUNTIME_EXPORT cl_int (CL_API_CALL*clEnqueueAcquireGLObjects)(cl_command_queue, cl_uint, const cl_mem*, cl_uint, const cl_event*, cl_event*);
+extern CL_RUNTIME_EXPORT cl_int (CL_API_CALL*clEnqueueReleaseGLObjects)(cl_command_queue, cl_uint, const cl_mem*, cl_uint, const cl_event*, cl_event*);
+extern CL_RUNTIME_EXPORT cl_int (CL_API_CALL*clGetGLContextInfoKHR)(const cl_context_properties*, cl_gl_context_info, size_t, void*, size_t*);
+extern CL_RUNTIME_EXPORT cl_int (CL_API_CALL*clGetGLObjectInfo)(cl_mem, cl_gl_object_type*, cl_GLuint*);
+extern CL_RUNTIME_EXPORT cl_int (CL_API_CALL*clGetGLTextureInfo)(cl_mem, cl_gl_texture_info, size_t, void*, size_t*);

modules/core/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl_wrappers.hpp

+//
+// AUTOGENERATED, DO NOT EDIT
+//
+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_WRAPPERS_HPP__
+#error "Invalid usage"
+#endif
+
+// generated by parser_cl.py
+#undef clCreateFromGLBuffer
+#define clCreateFromGLBuffer clCreateFromGLBuffer_fn
+inline cl_mem clCreateFromGLBuffer(cl_context p0, cl_mem_flags p1, cl_GLuint p2, int* p3) { return clCreateFromGLBuffer_pfn(p0, p1, p2, p3); }
+#undef clCreateFromGLRenderbuffer
+#define clCreateFromGLRenderbuffer clCreateFromGLRenderbuffer_fn
+inline cl_mem clCreateFromGLRenderbuffer(cl_context p0, cl_mem_flags p1, cl_GLuint p2, cl_int* p3) { return clCreateFromGLRenderbuffer_pfn(p0, p1, p2, p3); }
+#undef clCreateFromGLTexture
+#define clCreateFromGLTexture clCreateFromGLTexture_fn
+inline cl_mem clCreateFromGLTexture(cl_context p0, cl_mem_flags p1, cl_GLenum p2, cl_GLint p3, cl_GLuint p4, cl_int* p5) { return clCreateFromGLTexture_pfn(p0, p1, p2, p3, p4, p5); }
+#undef clCreateFromGLTexture2D
+#define clCreateFromGLTexture2D clCreateFromGLTexture2D_fn
+inline cl_mem clCreateFromGLTexture2D(cl_context p0, cl_mem_flags p1, cl_GLenum p2, cl_GLint p3, cl_GLuint p4, cl_int* p5) { return clCreateFromGLTexture2D_pfn(p0, p1, p2, p3, p4, p5); }
+#undef clCreateFromGLTexture3D
+#define clCreateFromGLTexture3D clCreateFromGLTexture3D_fn
+inline cl_mem clCreateFromGLTexture3D(cl_context p0, cl_mem_flags p1, cl_GLenum p2, cl_GLint p3, cl_GLuint p4, cl_int* p5) { return clCreateFromGLTexture3D_pfn(p0, p1, p2, p3, p4, p5); }
+#undef clEnqueueAcquireGLObjects
+#define clEnqueueAcquireGLObjects clEnqueueAcquireGLObjects_fn
+inline cl_int clEnqueueAcquireGLObjects(cl_command_queue p0, cl_uint p1, const cl_mem* p2, cl_uint p3, const cl_event* p4, cl_event* p5) { return clEnqueueAcquireGLObjects_pfn(p0, p1, p2, p3, p4, p5); }
+#undef clEnqueueReleaseGLObjects
+#define clEnqueueReleaseGLObjects clEnqueueReleaseGLObjects_fn
+inline cl_int clEnqueueReleaseGLObjects(cl_command_queue p0, cl_uint p1, const cl_mem* p2, cl_uint p3, const cl_event* p4, cl_event* p5) { return clEnqueueReleaseGLObjects_pfn(p0, p1, p2, p3, p4, p5); }
+#undef clGetGLContextInfoKHR
+#define clGetGLContextInfoKHR clGetGLContextInfoKHR_fn
+inline cl_int clGetGLContextInfoKHR(const cl_context_properties* p0, cl_gl_context_info p1, size_t p2, void* p3, size_t* p4) { return clGetGLContextInfoKHR_pfn(p0, p1, p2, p3, p4); }
+#undef clGetGLObjectInfo
+#define clGetGLObjectInfo clGetGLObjectInfo_fn
+inline cl_int clGetGLObjectInfo(cl_mem p0, cl_gl_object_type* p1, cl_GLuint* p2) { return clGetGLObjectInfo_pfn(p0, p1, p2); }
+#undef clGetGLTextureInfo
+#define clGetGLTextureInfo clGetGLTextureInfo_fn
+inline cl_int clGetGLTextureInfo(cl_mem p0, cl_gl_texture_info p1, size_t p2, void* p3, size_t* p4) { return clGetGLTextureInfo_pfn(p0, p1, p2, p3, p4); }

modules/core/include/opencv2/core/opencl/runtime/opencl_gl.hpp

+/*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.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2013, Advanced Micro Devices, Inc., 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 the copyright holders 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 OpenCV Foundation 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*/
+
+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_HPP__
+#define __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_HPP__
+
+#if defined HAVE_OPENCL && defined HAVE_OPENGL
+
+#include "opencl_core.hpp"
+
+#if defined(HAVE_OPENCL_STATIC)
+
+#if defined __APPLE__
+#include <OpenCL/cl_gl.h>
+#else
+#include <CL/cl_gl.h>
+#endif
+
+#else // HAVE_OPENCL_STATIC
+
+#include "autogenerated/opencl_gl.hpp"
+
+#endif // HAVE_OPENCL_STATIC
+
+#endif // defined HAVE_OPENCL && defined HAVE_OPENGL
+
+#endif // __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_HPP__

modules/core/include/opencv2/core/opencl/runtime/opencl_gl_wrappers.hpp

+/*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.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2013, Advanced Micro Devices, Inc., 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 the copyright holders 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 OpenCV Foundation 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*/
+
+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_WRAPPERS_HPP__
+#define __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_WRAPPERS_HPP__
+
+#include "autogenerated/opencl_gl_wrappers.hpp"
+
+#endif // __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_WRAPPERS_HPP__

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

@@ -48,6 +48,7 @@
 #endif
 
 #include "opencv2/core.hpp"
+#include "ocl.hpp"
 
 namespace cv { namespace ogl {
 
@@ -511,7 +512,30 @@ CV_EXPORTS void render(const Arrays& arr, int mode = POINTS, Scalar color = Scal
 */
 CV_EXPORTS void render(const Arrays& arr, InputArray indices, int mode = POINTS, Scalar color = Scalar::all(255));
 
-//! @} core_opengl
+/////////////////// CL-GL Interoperability Functions ///////////////////
+
+namespace ocl {
+using namespace cv::ocl;
+
+// TODO static functions in the Context class
+/** @brief Creates OpenCL context from GL.
+@return Returns reference to OpenCL Context
+ */
+CV_EXPORTS Context& initializeContextFromGL();
+
+} // namespace cv::ogl::ocl
+
+/** @brief Converts InputArray to Texture2D object.
+@param src     - source InputArray.
+@param texture - destination Texture2D object.
+ */
+CV_EXPORTS void convertToGLTexture2D(InputArray src, Texture2D& texture);
+
+/** @brief Converts Texture2D object to OutputArray.
+@param texture - source Texture2D object.
+@param dst     - destination OutputArray.
+ */
+CV_EXPORTS void convertFromGLTexture2D(const Texture2D& texture, OutputArray dst);
 
 }} // namespace cv::ogl
 

modules/core/src/opencl/runtime/generator/filter/opencl_gl_functions.list

+clCreateFromGLBuffer
+clCreateFromGLRenderbuffer
+clCreateFromGLTexture
+clCreateFromGLTexture2D
+clCreateFromGLTexture3D
+clEnqueueAcquireGLObjects
+clEnqueueReleaseGLObjects
+clGetGLContextInfoKHR
+clGetGLObjectInfo
+clGetGLTextureInfo
+#total 10

modules/core/src/opencl/runtime/generator/generate.sh

@@ -3,4 +3,6 @@ echo "Generate files for CL runtime..."
 python parser_cl.py opencl_core < sources/cl.h
 python parser_clamdblas.py < sources/clAmdBlas.h
 python parser_clamdfft.py < sources/clAmdFft.h
+
+python parser_cl.py opencl_gl < sources/cl_gl.h
 echo "Generate files for CL runtime... Done"

modules/core/src/opencl/runtime/generator/parser_cl.py

@@ -8,9 +8,10 @@ from common import remove_comments, getTokens, getParameters, postProcessParamet
 
 try:
     if len(sys.argv) > 1:
-        outfile = open('../../../../include/opencv2/core/opencl/runtime/autogenerated/' + sys.argv[1] + '.hpp', 'wb')
-        outfile_impl = open('../autogenerated/' + sys.argv[1] + '_impl.hpp', 'wb')
-        outfile_wrappers = open('../../../../include/opencv2/core/opencl/runtime/autogenerated/' + sys.argv[1] + '_wrappers.hpp', 'wb')
+        module_name = sys.argv[1]
+        outfile = open('../../../../include/opencv2/core/opencl/runtime/autogenerated/%s.hpp' % module_name, 'wb')
+        outfile_impl = open('../autogenerated/%s_impl.hpp' % module_name, 'wb')
+        outfile_wrappers = open('../../../../include/opencv2/core/opencl/runtime/autogenerated/%s_wrappers.hpp' % module_name, 'wb')
         if len(sys.argv) > 2:
             f = open(sys.argv[2], "r")
         else:
@@ -95,7 +96,7 @@ pprint(fns)
 
 from common import *
 
-filterFileName='./filter/opencl_core_functions.list'
+filterFileName = './filter/%s_functions.list' % module_name
 numEnabled = readFunctionFilter(fns, filterFileName)
 
 functionsFilter = generateFilterNames(fns)
@@ -108,18 +109,27 @@ ctx['CL_REMAP_DYNAMIC'] = generateRemapDynamic(fns)
 ctx['CL_FN_DECLARATIONS'] = generateFnDeclaration(fns)
 
 sys.stdout = outfile
-ProcessTemplate('template/opencl_core.hpp.in', ctx)
+ProcessTemplate('template/%s.hpp.in' % module_name, ctx)
 
 ctx['CL_FN_INLINE_WRAPPERS'] = generateInlineWrappers(fns)
 
 sys.stdout = outfile_wrappers
-ProcessTemplate('template/opencl_core_wrappers.hpp.in', ctx)
-
-ctx['CL_FN_ENTRY_DEFINITIONS'] = generateStructDefinitions(fns)
-ctx['CL_FN_ENTRY_LIST'] = generateListOfDefinitions(fns)
-ctx['CL_FN_ENUMS'] = generateEnums(fns)
-ctx['CL_FN_SWITCH'] = generateTemplates(15, 'opencl_fn', 'opencl_check_fn', 'CL_API_CALL')
+ProcessTemplate('template/%s_wrappers.hpp.in' % module_name, ctx)
+
+if module_name == 'opencl_core':
+    ctx['CL_FN_ENTRY_DEFINITIONS'] = generateStructDefinitions(fns)
+    ctx['CL_FN_ENTRY_LIST'] = generateListOfDefinitions(fns)
+    ctx['CL_FN_ENUMS'] = generateEnums(fns)
+    ctx['CL_FN_SWITCH'] = generateTemplates(15, 'opencl_fn', 'opencl_check_fn', 'CL_API_CALL')
+else:
+    lprefix = module_name + '_fn'
+    enumprefix = module_name.upper() + '_FN'
+    fn_list_name = module_name + '_fn_list'
+    ctx['CL_FN_ENTRY_DEFINITIONS'] = generateStructDefinitions(fns, lprefix=lprefix, enumprefix=enumprefix)
+    ctx['CL_FN_ENTRY_LIST'] = generateListOfDefinitions(fns, fn_list_name)
+    ctx['CL_FN_ENUMS'] = generateEnums(fns, prefix=enumprefix)
+    ctx['CL_FN_SWITCH'] = generateTemplates(15, lprefix, '%s_check_fn' % module_name, 'CL_API_CALL')
 ctx['CL_NUMBER_OF_ENABLED_FUNCTIONS'] = '// number of enabled functions: %d' % (numEnabled)
 
 sys.stdout = outfile_impl
-ProcessTemplate('template/opencl_core_impl.hpp.in', ctx)
+ProcessTemplate('template/%s_impl.hpp.in' % module_name, ctx)

modules/core/src/opencl/runtime/generator/template/opencl_gl.hpp.in

+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_HPP__
+#error "Invalid usage"
+#endif
+
+@CL_REMAP_ORIGIN@
+
+#if defined __APPLE__
+#include <OpenCL/cl_gl.h>
+#else
+#include <CL/cl_gl.h>
+#endif
+
+@CL_REMAP_DYNAMIC@
+
+@CL_FN_DECLARATIONS@

modules/core/src/opencl/runtime/generator/template/opencl_gl_impl.hpp.in

+@CL_FN_ENUMS@
+
+namespace {
+@CL_FN_SWITCH@
+} // anonymous namespace
+
+@CL_FN_ENTRY_DEFINITIONS@
+
+@CL_FN_ENTRY_LIST@
+
+@CL_NUMBER_OF_ENABLED_FUNCTIONS@

modules/core/src/opencl/runtime/generator/template/opencl_gl_wrappers.hpp.in

+#ifndef __OPENCV_CORE_OCL_RUNTIME_OPENCL_GL_WRAPPERS_HPP__
+#error "Invalid usage"
+#endif
+
+@CL_FN_INLINE_WRAPPERS@

modules/core/src/opencl/runtime/opencl_core.cpp

@@ -279,4 +279,30 @@ static void* opencl_check_fn(int ID)
     return func;
 }
 
+#ifdef HAVE_OPENGL
+
+#include "opencv2/core/opencl/runtime/opencl_gl.hpp"
+
+static void* opencl_gl_check_fn(int ID);
+
+#include "autogenerated/opencl_gl_impl.hpp"
+
+static void* opencl_gl_check_fn(int ID)
+{
+    const struct DynamicFnEntry* e = NULL;
+    assert(ID >= 0 && ID < (int)(sizeof(opencl_gl_fn_list)/sizeof(opencl_gl_fn_list[0])));
+    e = opencl_gl_fn_list[ID];
+    void* func = CV_CL_GET_PROC_ADDRESS(e->fnName);
+    if (!func)
+    {
+        throw cv::Exception(cv::Error::OpenCLApiCallError,
+                cv::format("OpenCL function is not available: [%s]", e->fnName),
+                CV_Func, __FILE__, __LINE__);
+    }
+    *(e->ppFn) = func;
+    return func;
+}
+
+#endif // HAVE_OPENGL
+
 #endif

modules/core/src/opengl.cpp

@@ -47,7 +47,9 @@
 #  ifdef HAVE_CUDA
 #    include <cuda_gl_interop.h>
 #  endif
-#endif
+#else // HAVE_OPENGL
+#  define NO_OPENGL_SUPPORT_ERROR CV_ErrorNoReturn(cv::Error::StsBadFunc, "OpenCV was build without OpenGL support")
+#endif // HAVE_OPENGL
 
 using namespace cv;
 using namespace cv::cuda;
@@ -1572,3 +1574,234 @@ void cv::ogl::render(const ogl::Arrays& arr, InputArray indices, int mode, Scala
     }
 #endif
 }
+
+////////////////////////////////////////////////////////////////////////
+// CL-GL Interoperability
+
+#ifdef HAVE_OPENCL
+#  include "opencv2/core/opencl/runtime/opencl_gl.hpp"
+#else // HAVE_OPENCL
+#  define NO_OPENCL_SUPPORT_ERROR CV_ErrorNoReturn(cv::Error::StsBadFunc, "OpenCV was build without OpenCL support")
+#endif // HAVE_OPENCL
+
+#if defined(HAVE_OPENGL)
+#  if defined(ANDROID)
+#    include <EGL/egl.h>
+#  elif defined(__linux__)
+#    include <GL/glx.h>
+#  endif
+#endif // HAVE_OPENGL
+
+namespace cv { namespace ogl {
+
+namespace ocl {
+
+Context& initializeContextFromGL()
+{
+#if !defined(HAVE_OPENGL)
+    NO_OPENGL_SUPPORT_ERROR;
+#elif !defined(HAVE_OPENCL)
+    NO_OPENCL_SUPPORT_ERROR;
+#else
+    cl_uint numPlatforms;
+    cl_int status = clGetPlatformIDs(0, NULL, &numPlatforms);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLInitError, "OpenCL: Can't get number of platforms");
+    if (numPlatforms == 0)
+        CV_Error(cv::Error::OpenCLInitError, "OpenCL: No available platforms");
+
+    std::vector<cl_platform_id> platforms(numPlatforms);
+    status = clGetPlatformIDs(numPlatforms, &platforms[0], NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLInitError, "OpenCL: Can't get number of platforms");
+
+    // TODO Filter platforms by name from OPENCV_OPENCL_DEVICE
+
+    int found = -1;
+    cl_device_id device = NULL;
+    cl_context context = NULL;
+
+    for (int i = 0; i < (int)numPlatforms; i++)
+    {
+        // query platform extension: presence of "cl_khr_gl_sharing" extension is requred
+        {
+            AutoBuffer<char> extensionStr;
+
+            size_t extensionSize;
+            status = clGetPlatformInfo(platforms[i], CL_PLATFORM_EXTENSIONS, 0, NULL, &extensionSize);
+            if (status == CL_SUCCESS)
+            {
+                extensionStr.allocate(extensionSize+1);
+                status = clGetPlatformInfo(platforms[i], CL_PLATFORM_EXTENSIONS, extensionSize, (char*)extensionStr, NULL);
+            }
+            if (status != CL_SUCCESS)
+                CV_Error(cv::Error::OpenCLInitError, "OpenCL: Can't get platform extension string");
+
+            if (!strstr((const char*)extensionStr, "cl_khr_gl_sharing"))
+                continue;
+        }
+
+        clGetGLContextInfoKHR_fn clGetGLContextInfoKHR = (clGetGLContextInfoKHR_fn)
+                clGetExtensionFunctionAddressForPlatform(platforms[i], "clGetGLContextInfoKHR");
+        if (!clGetGLContextInfoKHR)
+            continue;
+
+        cl_context_properties properties[] =
+        {
+#if defined(WIN32) || defined(_WIN32)
+            CL_CONTEXT_PLATFORM, (cl_context_properties)platforms[i],
+            CL_GL_CONTEXT_KHR, (cl_context_properties)wglGetCurrentContext(),
+            CL_WGL_HDC_KHR, (cl_context_properties)wglGetCurrentDC(),
+#elif defined(ANDROID)
+            CL_CONTEXT_PLATFORM, (cl_context_properties)platforms[i],
+            CL_GL_CONTEXT_KHR, (cl_context_properties)eglGetCurrentContext(),
+            CL_EGL_DISPLAY_KHR, (cl_context_properties)eglGetCurrentDisplay(),
+#elif defined(__linux__)
+            CL_CONTEXT_PLATFORM, (cl_context_properties)platforms[i],
+            CL_GL_CONTEXT_KHR, (cl_context_properties)glXGetCurrentContext(),
+            CL_GLX_DISPLAY_KHR, (cl_context_properties)glXGetCurrentDisplay(),
+#endif
+            0
+        };
+
+        // query device
+        device = NULL;
+        status = clGetGLContextInfoKHR(properties, CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR, sizeof(cl_device_id), (void*)&device, NULL);
+        if (status != CL_SUCCESS)
+            continue;
+
+        // create context
+        context = clCreateContext(properties, 1, &device, NULL, NULL, &status);
+        if (status != CL_SUCCESS)
+        {
+            clReleaseDevice(device);
+        }
+        else
+        {
+            found = i;
+            break;
+        }
+    }
+
+    if (found < 0)
+        CV_Error(cv::Error::OpenCLInitError, "OpenCL: Can't create context for OpenGL interop");
+
+    Context& ctx = Context::getDefault(false);
+    initializeContextFromHandle(ctx, platforms[found], context, device);
+    return ctx;
+#endif
+}
+
+} // namespace cv::ogl::ocl
+
+void convertToGLTexture2D(InputArray src, Texture2D& texture)
+{
+    (void)src; (void)texture;
+#if !defined(HAVE_OPENGL)
+    NO_OPENGL_SUPPORT_ERROR;
+#elif !defined(HAVE_OPENCL)
+    NO_OPENCL_SUPPORT_ERROR;
+#else
+    Size srcSize = src.size();
+    CV_Assert(srcSize.width == (int)texture.cols() && srcSize.height == (int)texture.rows());
+
+    using namespace cv::ocl;
+    Context& ctx = Context::getDefault();
+    cl_context context = (cl_context)ctx.ptr();
+
+    UMat u = src.getUMat();
+
+    // TODO Add support for roi
+    CV_Assert(u.offset == 0);
+    CV_Assert(u.isContinuous());
+
+    cl_int status = 0;
+    cl_mem clImage = clCreateFromGLTexture(context, CL_MEM_WRITE_ONLY, gl::TEXTURE_2D, 0, texture.texId(), &status);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clCreateFromGLTexture failed");
+
+    cl_mem clBuffer = (cl_mem)u.handle(ACCESS_READ);
+
+    cl_command_queue q = (cl_command_queue)Queue::getDefault().ptr();
+    status = clEnqueueAcquireGLObjects(q, 1, &clImage, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueAcquireGLObjects failed");
+    size_t offset = 0; // TODO
+    size_t dst_origin[3] = {0, 0, 0};
+    size_t region[3] = {u.cols, u.rows, 1};
+    status = clEnqueueCopyBufferToImage(q, clBuffer, clImage, offset, dst_origin, region, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueCopyBufferToImage failed");
+    status = clEnqueueReleaseGLObjects(q, 1, &clImage, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueReleaseGLObjects failed");
+
+    status = clFinish(q); // TODO Use events
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clFinish failed");
+
+    status = clReleaseMemObject(clImage); // TODO RAII
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clReleaseMemObject failed");
+#endif
+}
+
+void convertFromGLTexture2D(const Texture2D& texture, OutputArray dst)
+{
+    (void)texture; (void)dst;
+#if !defined(HAVE_OPENGL)
+    NO_OPENGL_SUPPORT_ERROR;
+#elif !defined(HAVE_OPENCL)
+    NO_OPENCL_SUPPORT_ERROR;
+#else
+    // check texture format
+    const int dtype = CV_8UC4;
+    CV_Assert(texture.format() == Texture2D::RGBA);
+
+    int textureType = dtype;
+    CV_Assert(textureType >= 0);
+
+    using namespace cv::ocl;
+    Context& ctx = Context::getDefault();
+    cl_context context = (cl_context)ctx.ptr();
+
+    // TODO Need to specify ACCESS_WRITE here somehow to prevent useless data copying!
+    dst.create(texture.size(), textureType);
+    UMat u = dst.getUMat();
+
+    // TODO Add support for roi
+    CV_Assert(u.offset == 0);
+    CV_Assert(u.isContinuous());
+
+    cl_int status = 0;
+    cl_mem clImage = clCreateFromGLTexture(context, CL_MEM_READ_ONLY, gl::TEXTURE_2D, 0, texture.texId(), &status);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clCreateFromGLTexture failed");
+
+    cl_mem clBuffer = (cl_mem)u.handle(ACCESS_READ);
+
+    cl_command_queue q = (cl_command_queue)Queue::getDefault().ptr();
+    status = clEnqueueAcquireGLObjects(q, 1, &clImage, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueAcquireGLObjects failed");
+    size_t offset = 0; // TODO
+    size_t src_origin[3] = {0, 0, 0};
+    size_t region[3] = {u.cols, u.rows, 1};
+    status = clEnqueueCopyImageToBuffer(q, clImage, clBuffer, src_origin, region, offset, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueCopyImageToBuffer failed");
+    status = clEnqueueReleaseGLObjects(q, 1, &clImage, 0, NULL, NULL);
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clEnqueueReleaseGLObjects failed");
+
+    status = clFinish(q); // TODO Use events
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clFinish failed");
+
+    status = clReleaseMemObject(clImage); // TODO RAII
+    if (status != CL_SUCCESS)
+        CV_Error(cv::Error::OpenCLApiCallError, "OpenCL: clReleaseMemObject failed");
+#endif
+}
+
+}} // namespace cv::ogl

samples/CMakeLists.txt

@@ -18,6 +18,10 @@ if(WIN32 AND HAVE_DIRECTX)
   add_subdirectory(directx)
 endif()
 
+if((NOT ANDROID) AND HAVE_OPENGL)
+  add_subdirectory(opengl)
+endif()
+
 if(ANDROID AND BUILD_ANDROID_EXAMPLES)
   add_subdirectory(android)
 endif()

samples/opengl/CMakeLists.txt

+SET(OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS opencv_core opencv_imgproc opencv_imgcodecs opencv_videoio opencv_highgui)
+
+ocv_check_dependencies(${OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS})
+
+if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
+  set(project "opengl")
+  string(TOUPPER "${project}" project_upper)
+
+  project("${project}_samples")
+
+  ocv_include_modules_recurse(${OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS})
+
+  # ---------------------------------------------
+  #      Define executable targets
+  # ---------------------------------------------
+  MACRO(OPENCV_DEFINE_OPENGL_EXAMPLE name srcs)
+    set(the_target "example_${project}_${name}")
+    add_executable(${the_target} ${srcs})
+
+    ocv_target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} ${OPENCV_OPENGL_SAMPLES_REQUIRED_DEPS})
+
+    set_target_properties(${the_target} PROPERTIES
+      OUTPUT_NAME "${project}-example-${name}"
+      PROJECT_LABEL "(EXAMPLE_${project_upper}) ${name}")
+
+    if(ENABLE_SOLUTION_FOLDERS)
+      set_target_properties(${the_target} PROPERTIES FOLDER "samples//${project}")
+    endif()
+
+    if(WIN32)
+      if(MSVC AND NOT BUILD_SHARED_LIBS)
+        set_target_properties(${the_target} PROPERTIES LINK_FLAGS "/NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:atlsd.lib /DEBUG")
+      endif()
+      install(TARGETS ${the_target} RUNTIME DESTINATION "${OPENCV_SAMPLES_BIN_INSTALL_PATH}/${project}" COMPONENT samples)
+    endif()
+  ENDMACRO()
+
+  file(GLOB all_samples RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.cpp)
+
+  foreach(sample_filename ${all_samples})
+    get_filename_component(sample ${sample_filename} NAME_WE)
+    file(GLOB sample_srcs RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${sample}.*)
+    OPENCV_DEFINE_OPENGL_EXAMPLE(${sample} ${sample_srcs})
+  endforeach()
+endif()

samples/opengl/winapp.hpp

+#if defined(WIN32) || defined(_WIN32)
+# define WIN32_LEAN_AND_MEAN
+# include <windows.h>
+#elif defined(__linux__)
+# include <X11/X.h>
+# include <X11/Xlib.h>
+# include <X11/Xutil.h>
+#endif
+
+#include <string>
+
+#include <GL/gl.h>
+#if defined(WIN32) || defined(_WIN32)
+# include <GL/glu.h>
+#elif defined(__linux__)
+# include <GL/glx.h>
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+# define WINCLASS "WinAppWnd"
+#endif
+
+#define SAFE_RELEASE(p) if (p) { p->Release(); p = NULL; }
+
+class WinApp
+{
+public:
+    WinApp(int width, int height, std::string& window_name)
+    {
+        m_width       = width;
+        m_height      = height;
+        m_window_name = window_name;
+#if defined(WIN32) || defined(_WIN32)
+        m_hInstance   = ::GetModuleHandle(NULL);
+#endif
+    }
+
+    virtual ~WinApp()
+    {
+#if defined(WIN32) || defined(_WIN32)
+        ::UnregisterClass(WINCLASS, m_hInstance);
+#endif
+    }
+
+    int create()
+    {
+#if defined(WIN32) || defined(_WIN32)
+        WNDCLASSEX wcex;
+
+        wcex.cbSize        = sizeof(WNDCLASSEX);
+        wcex.style         = CS_HREDRAW | CS_VREDRAW;
+        wcex.lpfnWndProc   = &WinApp::StaticWndProc;
+        wcex.cbClsExtra    = 0;
+        wcex.cbWndExtra    = 0;
+        wcex.hInstance     = m_hInstance;
+        wcex.hIcon         = LoadIcon(0, IDI_APPLICATION);
+        wcex.hCursor       = LoadCursor(0, IDC_ARROW);
+        wcex.hbrBackground = 0;
+        wcex.lpszMenuName  = 0L;
+        wcex.lpszClassName = WINCLASS;
+        wcex.hIconSm       = 0;
+
+        ATOM wc = ::RegisterClassEx(&wcex);
+
+        RECT rc = { 0, 0, m_width, m_height };
+        ::AdjustWindowRect(&rc, WS_OVERLAPPEDWINDOW, false);
+
+        m_hWnd = ::CreateWindow(
+                     (LPCTSTR)wc, m_window_name.c_str(),
+                     WS_OVERLAPPEDWINDOW, CW_USEDEFAULT, CW_USEDEFAULT,
+                     rc.right - rc.left, rc.bottom - rc.top,
+                     NULL, NULL, m_hInstance, (void*)this);
+
+        if (!m_hWnd)
+            return -1;
+
+        ::ShowWindow(m_hWnd, SW_SHOW);
+        ::UpdateWindow(m_hWnd);
+        ::SetFocus(m_hWnd);
+#elif defined(__linux__)
+        m_display = XOpenDisplay(NULL);
+
+        if (m_display == NULL)
+        {
+            return -1;
+        }
+
+        m_WM_DELETE_WINDOW = XInternAtom(m_display, "WM_DELETE_WINDOW", False);
+
+        static GLint visual_attributes[] = { GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None };
+        m_visual_info = glXChooseVisual(m_display, 0, visual_attributes);
+
+        if (m_visual_info == NULL)
+        {
+            XCloseDisplay(m_display);
+            return -2;
+        }
+
+        Window root = DefaultRootWindow(m_display);
+
+        m_event_mask = ExposureMask | KeyPressMask;
+
+        XSetWindowAttributes window_attributes;
+        window_attributes.colormap = XCreateColormap(m_display, root, m_visual_info->visual, AllocNone);
+        window_attributes.event_mask = m_event_mask;
+
+        m_window = XCreateWindow(
+            m_display, root, 0, 0, m_width, m_height, 0, m_visual_info->depth,
+            InputOutput, m_visual_info->visual, CWColormap | CWEventMask, &window_attributes);
+
+        XMapWindow(m_display, m_window);
+        XSetWMProtocols(m_display, m_window, &m_WM_DELETE_WINDOW, 1);
+        XStoreName(m_display, m_window, m_window_name.c_str());
+#endif
+
+        return init();
+    }
+
+    virtual void cleanup()
+    {
+#if defined(WIN32) || defined(_WIN32)
+        ::DestroyWindow(m_hWnd);
+#elif defined(__linux__)
+        XDestroyWindow(m_display, m_window);
+        XCloseDisplay(m_display);
+#endif
+    }
+
+#if defined(WIN32) || defined(_WIN32)
+    virtual LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam) = 0;
+#endif
+
+    int run()
+    {
+#if defined(WIN32) || defined(_WIN32)
+        MSG msg;
+
+        ::ZeroMemory(&msg, sizeof(msg));
+
+        while (msg.message != WM_QUIT)
+        {
+            if (::PeekMessage(&msg, NULL, 0U, 0U, PM_REMOVE))
+            {
+                ::TranslateMessage(&msg);
+                ::DispatchMessage(&msg);
+            }
+            else
+            {
+                idle();
+            }
+        }
+
+        return static_cast<int>(msg.wParam);
+#elif defined(__linux__)
+        m_end_loop = false;
+
+        do {
+            XEvent e;
+
+            if (!XCheckWindowEvent(m_display, m_window, m_event_mask, &e) || !handle_event(e))
+            {
+                idle();
+            }
+        } while (!m_end_loop);
+#endif
+
+        return 0;
+    }
+
+protected:
+
+#if defined(WIN32) || defined(_WIN32)
+    static LRESULT CALLBACK StaticWndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
+    {
+        WinApp* pWnd;
+
+        if (message == WM_NCCREATE)
+        {
+            LPCREATESTRUCT pCreateStruct = ((LPCREATESTRUCT)lParam);
+            pWnd = (WinApp*)(pCreateStruct->lpCreateParams);
+            ::SetWindowLongPtr(hWnd, GWLP_USERDATA, (LONG_PTR)pWnd);
+        }
+
+        pWnd = GetObjectFromWindow(hWnd);
+
+        if (pWnd)
+            return pWnd->WndProc(hWnd, message, wParam, lParam);
+        else
+            return ::DefWindowProc(hWnd, message, wParam, lParam);
+    }
+
+    inline static WinApp* GetObjectFromWindow(HWND hWnd)
+    {
+        return (WinApp*)::GetWindowLongPtr(hWnd, GWLP_USERDATA);
+    }
+#endif
+
+#if defined(__linux__)
+    virtual int handle_event(XEvent& e) = 0;
+#endif
+
+    virtual int init() = 0;
+    virtual int render() = 0;
+
+    virtual void idle() = 0;
+
+#if defined(WIN32) || defined(_WIN32)
+    HINSTANCE    m_hInstance;
+    HWND         m_hWnd;
+#elif defined(__linux__)
+    Display*     m_display;
+    XVisualInfo* m_visual_info;
+    Window       m_window;
+    long         m_event_mask;
+    Atom         m_WM_DELETE_WINDOW;
+    bool         m_end_loop;
+#endif
+    int          m_width;
+    int          m_height;
+    std::string  m_window_name;
+};