include/opencv2/core/opengl_interop.hpp

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#ifndef __OPENCV_OPENGL_INTEROP_HPP__
#define __OPENCV_OPENGL_INTEROP_HPP__

#ifdef __cplusplus

#include "opencv2/core/core.hpp"

namespace cv
{
class CV_EXPORTS GlBuffer
{
public:
    enum Usage
    {
        ARRAY_BUFFER = 0x8892,  // buffer will use for OpenGL arrays (vertices, colors, normals, etc)
        TEXTURE_BUFFER = 0x88EC // buffer will ise for OpenGL textures
    };

    explicit GlBuffer(Usage usage);

    GlBuffer(int rows, int cols, int type, Usage usage);
    GlBuffer(Size size, int type, Usage usage);

    GlBuffer(InputArray mat, Usage usage);

    void create(int rows, int cols, int type, Usage usage);
    void create(Size size, int type, Usage usage);
    void create(int rows, int cols, int type);
    void create(Size size, int type);

    void release();

    void copyFrom(InputArray mat);

    void bind() const;
    void unbind() const;

    Mat mapHost();
    void unmapHost();

    gpu::GpuMat mapDevice();
    void unmapDevice();

    inline int rows() const { return rows_; }
    inline int cols() const { return cols_; }
    inline Size size() const { return Size(cols_, rows_); }
    inline bool empty() const { return rows_ == 0 || cols_ == 0; }

    inline int type() const { return type_; }
    inline int depth() const { return CV_MAT_DEPTH(type_); }
    inline int channels() const { return CV_MAT_CN(type_); }
    inline int elemSize() const { return CV_ELEM_SIZE(type_); }
    inline int elemSize1() const { return CV_ELEM_SIZE1(type_); }

    inline Usage usage() const { return usage_; }

    class Impl;
private:
    int rows_;
    int cols_;
    int type_;
    Usage usage_;

    Ptr<Impl> impl_;
};

template <> CV_EXPORTS void Ptr<GlBuffer::Impl>::delete_obj();

class CV_EXPORTS GlTexture
{
public:
    GlTexture();

    GlTexture(int rows, int cols, int type);
    GlTexture(Size size, int type);

    explicit GlTexture(InputArray mat, bool bgra = true);

    void create(int rows, int cols, int type);
    void create(Size size, int type);
    void release();

    void copyFrom(InputArray mat, bool bgra = true);

    void bind() const;
    void unbind() const;

    inline int rows() const { return rows_; }
    inline int cols() const { return cols_; }
    inline Size size() const { return Size(cols_, rows_); }
    inline bool empty() const { return rows_ == 0 || cols_ == 0; }

    inline int type() const { return type_; }
    inline int depth() const { return CV_MAT_DEPTH(type_); }
    inline int channels() const { return CV_MAT_CN(type_); }
    inline int elemSize() const { return CV_ELEM_SIZE(type_); }
    inline int elemSize1() const { return CV_ELEM_SIZE1(type_); }

    class Impl;
private:
    int rows_;
    int cols_;
    int type_;

    Ptr<Impl> impl_;
    GlBuffer buf_;
};

template <> CV_EXPORTS void Ptr<GlTexture::Impl>::delete_obj();

class CV_EXPORTS GlArrays
{
public:
    inline GlArrays()
        : vertex_(GlBuffer::ARRAY_BUFFER), color_(GlBuffer::ARRAY_BUFFER), bgra_(true), normal_(GlBuffer::ARRAY_BUFFER), texCoord_(GlBuffer::ARRAY_BUFFER)
    {
    }

    void setVertexArray(InputArray vertex);
    inline void resetVertexArray() { vertex_.release(); }

    void setColorArray(InputArray color, bool bgra = true);
    inline void resetColorArray() { color_.release(); }

    void setNormalArray(InputArray normal);
    inline void resetNormalArray() { normal_.release(); }

    void setTexCoordArray(InputArray texCoord);
    inline void resetTexCoordArray() { texCoord_.release(); }

    void bind() const;
    void unbind() const;

    inline int rows() const { return vertex_.rows(); }
    inline int cols() const { return vertex_.cols(); }
    inline Size size() const { return vertex_.size(); }
    inline bool empty() const { return vertex_.empty(); }

private:
    GlBuffer vertex_;
    GlBuffer color_;
    bool bgra_;
    GlBuffer normal_;
    GlBuffer texCoord_;
};

class CV_EXPORTS GlFont
{
public:
    enum Weight
    {
        WEIGHT_LIGHT    = 300,
        WEIGHT_NORMAL   = 400,
        WEIGHT_SEMIBOLD = 600,
        WEIGHT_BOLD     = 700,
        WEIGHT_BLACK    = 900
    };

    enum Style
    {
        STYLE_NORMAL    = 0,
        STYLE_ITALIC    = 1,
        STYLE_UNDERLINE = 2
    };

    static Ptr<GlFont> get(const std::string& family, int height = 12, Weight weight = WEIGHT_NORMAL, Style style = STYLE_NORMAL);

    void draw(const char* str, int len) const;

    inline const std::string& family() const { return family_; }
    inline int height() const { return height_; }
    inline Weight weight() const { return weight_; }
    inline Style style() const { return style_; }

private:
    GlFont(const std::string& family, int height, Weight weight, Style style);

    std::string family_;
    int height_;
    Weight weight_;
    Style style_;

    unsigned int base_;

    GlFont(const GlFont&);
    GlFont& operator =(const GlFont&);
};


CV_EXPORTS void render(const GlTexture& tex,
    Rect_<double> wndRect = Rect_<double>(0.0, 0.0, 1.0, 1.0),
    Rect_<double> texRect = Rect_<double>(0.0, 0.0, 1.0, 1.0));

namespace RenderMode {
    enum {
        POINTS         = 0x0000,
        LINES          = 0x0001,
        LINE_LOOP      = 0x0002,
        LINE_STRIP     = 0x0003,
        TRIANGLES      = 0x0004,
        TRIANGLE_STRIP = 0x0005,
        TRIANGLE_FAN   = 0x0006,
        QUADS          = 0x0007,
        QUAD_STRIP     = 0x0008,
        POLYGON        = 0x0009
    };
}

CV_EXPORTS void render(const GlArrays& arr, int mode = RenderMode::POINTS, Scalar color = Scalar::all(255));

CV_EXPORTS void render(const std::string& str, const Ptr<GlFont>& font, Scalar color, Point2d pos);

class CV_EXPORTS GlCamera
{
public:
    GlCamera();

    void lookAt(Point3d eye, Point3d center, Point3d up);
    void setCameraPos(Point3d pos, double yaw, double pitch, double roll);

    void setScale(Point3d scale);

    void setProjectionMatrix(const Mat& projectionMatrix, bool transpose = true);
    void setPerspectiveProjection(double fov, double aspect, double zNear, double zFar);
    void setOrthoProjection(double left, double right, double bottom, double top, double zNear, double zFar);

    void setupProjectionMatrix() const;
    void setupModelViewMatrix() const;

private:
    Point3d eye_;
    Point3d center_;
    Point3d up_;

    Point3d pos_;
    double yaw_;
    double pitch_;
    double roll_;

    bool useLookAtParams_;

    Point3d scale_;

    Mat projectionMatrix_;

    double fov_;
    double aspect_;

    double left_;
    double right_;
    double bottom_;
    double top_;

    double zNear_;
    double zFar_;

    bool perspectiveProjection_;
};

inline void GlBuffer::create(Size _size, int _type, Usage _usage) { create(_size.height, _size.width, _type, _usage); }
inline void GlBuffer::create(int _rows, int _cols, int _type) { create(_rows, _cols, _type, usage()); }
inline void GlBuffer::create(Size _size, int _type) { create(_size.height, _size.width, _type, usage()); }
inline void GlTexture::create(Size _size, int _type) { create(_size.height, _size.width, _type); }

namespace gpu
{
    CV_EXPORTS void setGlDevice(int device = 0);
}
} // namespace cv

#endif // __cplusplus

#endif // __OPENCV_OPENGL_INTEROP_HPP__