Skip to content

Commit

Permalink
enabled OpenGL on MacOSX
Browse files Browse the repository at this point in the history
  • Loading branch information
@ilya-lavrenov
ilya-lavrenov committed Feb 12, 2014
1 parent e556790 commit 879c019
Show file tree
Hide file tree
Showing 4 changed files with 53 additions and 47 deletions.
2 changes: 1 addition & 1 deletion CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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) )
Expand Down
31 changes: 18 additions & 13 deletions modules/core/src/gl_core_3_1.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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;

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__

Expand Down
2 changes: 1 addition & 1 deletion samples/cpp/Qt_sample/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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)
65 changes: 33 additions & 32 deletions samples/cpp/Qt_sample/main.cpp → samples/cpp/Qt_sample/qt_opengl.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,14 +33,14 @@ 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;
"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
Expand Down Expand Up @@ -88,7 +88,6 @@ static void renderCube(float size)
glEnd();
}


static void on_opengl(void* param)
{
//Draw the object with the estimated pose
Expand Down Expand Up @@ -121,8 +120,6 @@ static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source
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);
Expand Down Expand Up @@ -199,21 +196,15 @@ static void foundCorners(vector<CvPoint2D32f> *srcImagePoints, const Mat& source
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;
Expand All @@ -226,19 +217,27 @@ static void createOpenGLMatrixFrom(float *posePOSIT,const CvMatr32f &rotationMat
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("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)."
"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<CvPoint3D32f> modelPoints;
initPOSIT(&modelPoints);
Expand All @@ -248,26 +247,28 @@ int main(void)

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);
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);
}

setOpenGlDrawCallback("POSIT", 0, 0);
destroyAllWindows();
cvReleasePOSITObject(&positObject);

Expand Down

0 comments on commit 879c019

Please sign in to comment.