diff --git a/CMakeLists.txt b/CMakeLists.txt index f515682f4a..ba239a55c9 100644 --- a/CMakeLists.txt +++ b/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) ) diff --git a/modules/core/src/gl_core_3_1.cpp b/modules/core/src/gl_core_3_1.cpp index bd1eb7ddd3..4a83ba0ca0 100644 --- a/modules/core/src/gl_core_3_1.cpp +++ b/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 + + #ifdef __APPLE__ + #include 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; - - return symbol ? NSAddressOfSymbol(symbol) : 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"; + + handle = dlopen(path, RTLD_LAZY | RTLD_GLOBAL); + } + if (!handle) + return NULL; + } + return dlsym(handle, name); } #endif // __APPLE__ diff --git a/samples/cpp/Qt_sample/CMakeLists.txt b/samples/cpp/Qt_sample/CMakeLists.txt index e831f752f6..f465947dbc 100644 --- a/samples/cpp/Qt_sample/CMakeLists.txt +++ b/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) diff --git a/samples/cpp/Qt_sample/main.cpp b/samples/cpp/Qt_sample/main.cpp deleted file mode 100644 index 6969544a0c..0000000000 --- a/samples/cpp/Qt_sample/main.cpp +++ /dev/null @@ -1,275 +0,0 @@ -//Yannick Verdie 2010 - -//--- Please read help() below: --- - -#include -#include - -#include -#include -#include -#include -#include - -#if defined WIN32 || defined _WIN32 || defined WINCE - #include - #undef small - #undef min - #undef max - #undef abs -#endif - -#ifdef __APPLE__ - #include -#else - #include -#endif - -using namespace std; -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" - "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; -} - -#define FOCAL_LENGTH 600 -#define CUBE_SIZE 10 - -static void renderCube(float size) -{ - glBegin(GL_QUADS); - // Front Face - glNormal3f( 0.0f, 0.0f, 1.0f); - glVertex3f( 0.0f, 0.0f, 0.0f); - glVertex3f( size, 0.0f, 0.0f); - glVertex3f( size, size, 0.0f); - glVertex3f( 0.0f, size, 0.0f); - // Back Face - glNormal3f( 0.0f, 0.0f,-1.0f); - glVertex3f( 0.0f, 0.0f, size); - glVertex3f( 0.0f, size, size); - glVertex3f( size, size, size); - glVertex3f( size, 0.0f, size); - // Top Face - glNormal3f( 0.0f, 1.0f, 0.0f); - glVertex3f( 0.0f, size, 0.0f); - glVertex3f( size, size, 0.0f); - glVertex3f( size, size, size); - glVertex3f( 0.0f, size, size); - // Bottom Face - glNormal3f( 0.0f,-1.0f, 0.0f); - glVertex3f( 0.0f, 0.0f, 0.0f); - glVertex3f( 0.0f, 0.0f, size); - glVertex3f( size, 0.0f, size); - glVertex3f( size, 0.0f, 0.0f); - // Right face - glNormal3f( 1.0f, 0.0f, 0.0f); - glVertex3f( size, 0.0f, 0.0f); - glVertex3f( size, 0.0f, size); - glVertex3f( size, size, size); - glVertex3f( size, size, 0.0f); - // Left Face - glNormal3f(-1.0f, 0.0f, 0.0f); - glVertex3f( 0.0f, 0.0f, 0.0f); - glVertex3f( 0.0f, size, 0.0f); - glVertex3f( 0.0f, size, size); - glVertex3f( 0.0f, 0.0f, size); - glEnd(); -} - - -static void on_opengl(void* param) -{ - //Draw the object with the estimated pose - glLoadIdentity(); - glScalef( 1.0f, 1.0f, -1.0f); - glMultMatrixf( (float*)param ); - glEnable( GL_LIGHTING ); - glEnable( GL_LIGHT0 ); - glEnable( GL_BLEND ); - glBlendFunc(GL_SRC_ALPHA, GL_ONE); - renderCube( CUBE_SIZE ); - glDisable(GL_BLEND); - glDisable( GL_LIGHTING ); -} - -static void initPOSIT(std::vector *modelPoints) -{ - //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 *srcImagePoints, const Mat& source, Mat& grayImage) -{ - cvtColor(source, grayImage, COLOR_RGB2GRAY); - 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 > contours; - vector hierarchy; - findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); - - Point p; - vector srcImagePoints_temp(4,cvPoint2D32f(0,0)); - - if (contours.size() == srcImagePoints_temp.size()) - { - - for(size_t i = 0 ; i y = 0 - //> x = 1 - //< x = 2 - //< y = 3 - - //get point 0; - size_t index = 0; - for(size_t i = 1 ; i srcImagePoints_temp.at(index).y) - index = i; - } - srcImagePoints->at(0) = srcImagePoints_temp.at(index); - - //get point 1; - index = 0; - for(size_t i = 1 ; i srcImagePoints_temp.at(index).x) - index = i; - } - srcImagePoints->at(1) = srcImagePoints_temp.at(index); - - //get point 2; - index = 0; - for(size_t i = 1 ; iat(2) = srcImagePoints_temp.at(index); - - //get point 3; - index = 0; - for(size_t i = 1 ; iat(3) = srcImagePoints_temp.at(index); - - Mat Msource = source; - stringstream ss; - for(size_t i = 0 ; iat(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); - } - } - -} - -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; -} - -int main(void) -{ - help(); - VideoCapture video("cube4.avi"); - CV_Assert(video.isOpened()); - - 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); - - float OpenGLMatrix[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; - setOpenGlDrawCallback("POSIT",on_opengl,OpenGLMatrix); - - vector modelPoints; - initPOSIT(&modelPoints); - - //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 srcImagePoints(4,cvPoint2D32f(0,0)); - - - while(waitKey(33) != 27) - { - video >> source; - imshow("original",source); - - foundCorners(&srcImagePoints,source,grayImage); - cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector ); - createOpenGLMatrixFrom(OpenGLMatrix,rotation_matrix,translation_vector); - - imshow("POSIT",source); - - if (video.get(CV_CAP_PROP_POS_AVI_RATIO) > 0.99) - video.set(CV_CAP_PROP_POS_AVI_RATIO, 0); - } - - destroyAllWindows(); - cvReleasePOSITObject(&positObject); - - return 0; -} diff --git a/samples/cpp/Qt_sample/qt_opengl.cpp b/samples/cpp/Qt_sample/qt_opengl.cpp new file mode 100644 index 0000000000..2878da4c00 --- /dev/null +++ b/samples/cpp/Qt_sample/qt_opengl.cpp @@ -0,0 +1,268 @@ +// Yannick Verdie 2010 +// --- Please read help() below: --- + +#include +#include + +#include +#include +#include +#include +#include + +#ifdef __APPLE__ +#include +#else +#include +#endif + +using namespace std; +using namespace cv; + +static void help() +{ + 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 " << 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 0.5 + +static void renderCube(float size) +{ + glBegin(GL_QUADS); + // Front Face + glNormal3f( 0.0f, 0.0f, 1.0f); + glVertex3f( 0.0f, 0.0f, 0.0f); + glVertex3f( size, 0.0f, 0.0f); + glVertex3f( size, size, 0.0f); + glVertex3f( 0.0f, size, 0.0f); + // Back Face + glNormal3f( 0.0f, 0.0f,-1.0f); + glVertex3f( 0.0f, 0.0f, size); + glVertex3f( 0.0f, size, size); + glVertex3f( size, size, size); + glVertex3f( size, 0.0f, size); + // Top Face + glNormal3f( 0.0f, 1.0f, 0.0f); + glVertex3f( 0.0f, size, 0.0f); + glVertex3f( size, size, 0.0f); + glVertex3f( size, size, size); + glVertex3f( 0.0f, size, size); + // Bottom Face + glNormal3f( 0.0f,-1.0f, 0.0f); + glVertex3f( 0.0f, 0.0f, 0.0f); + glVertex3f( 0.0f, 0.0f, size); + glVertex3f( size, 0.0f, size); + glVertex3f( size, 0.0f, 0.0f); + // Right face + glNormal3f( 1.0f, 0.0f, 0.0f); + glVertex3f( size, 0.0f, 0.0f); + glVertex3f( size, 0.0f, size); + glVertex3f( size, size, size); + glVertex3f( size, size, 0.0f); + // Left Face + glNormal3f(-1.0f, 0.0f, 0.0f); + glVertex3f( 0.0f, 0.0f, 0.0f); + glVertex3f( 0.0f, size, 0.0f); + glVertex3f( 0.0f, size, size); + glVertex3f( 0.0f, 0.0f, size); + glEnd(); +} + +static void on_opengl(void* param) +{ + //Draw the object with the estimated pose + glLoadIdentity(); + glScalef( 1.0f, 1.0f, -1.0f); + glMultMatrixf( (float*)param ); + glEnable( GL_LIGHTING ); + glEnable( GL_LIGHT0 ); + glEnable( GL_BLEND ); + glBlendFunc(GL_SRC_ALPHA, GL_ONE); + renderCube( CUBE_SIZE ); + glDisable(GL_BLEND); + glDisable( GL_LIGHTING ); +} + +static void initPOSIT(std::vector * modelPoints) +{ + // 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 * srcImagePoints, const Mat & source, Mat & grayImage) +{ + cvtColor(source, grayImage, COLOR_RGB2GRAY); + 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; + vector > contours; + vector hierarchy; + findContours(MgrayImage, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); + + Point p; + vector srcImagePoints_temp(4, cvPoint2D32f(0, 0)); + + if (contours.size() == srcImagePoints_temp.size()) + { + 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]; + + 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 + + // get point 0; + size_t index = 0; + for (size_t i = 1 ; i srcImagePoints_temp.at(index).y) + index = i; + srcImagePoints->at(0) = srcImagePoints_temp.at(index); + + // get point 1; + index = 0; + for (size_t i = 1 ; i srcImagePoints_temp.at(index).x) + index = i; + srcImagePoints->at(1) = srcImagePoints_temp.at(index); + + // get point 2; + index = 0; + for (size_t i = 1 ; iat(2) = srcImagePoints_temp.at(index); + + // get point 3; + index = 0; + for (size_t i = 1 ; iat(3) = srcImagePoints_temp.at(index); + + Mat Msource = source; + stringstream ss; + for (size_t i = 0; iat(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); + } + } +} + +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] = 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(); + + 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_OPENGL | CV_WINDOW_FREERATIO); + resizeWindow("POSIT", source.cols, source.rows); + + 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 modelPoints; + initPOSIT(&modelPoints); + + // 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, 1e-4f); + vector srcImagePoints(4, cvPoint2D32f(0, 0)); + + while (waitKey(33) != 27) + { + video >> 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); + + 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); + + delete[]rotation_matrix; + delete[]translation_vector; + + return EXIT_SUCCESS; +}